I have a question about this:
The landing detection logic in QLOITER mode is not as sophisticated as the landing detection logic in Copter, so if you get GPS movement while on the ground in QLOITER mode then the aircraft may try to tip over as it tries to hold position while in contact with the ground. It is suggested that you switch to QHOVER or QSTABILIZE once landed as these are unaffected by GPS movement.
Does this mean I can’t let my VTOL fly home autonomously and Land in RTL? Since it is practically like using QLoiter?