I had successfully tested this real mission with 1.3.68 MP version and 4.1.1 Arduplane firmware,
But with the latest MP version & FW 4.1.2, the back transition is made in the previous WP to Home instead of Home.
To avoid this I have to put one pushpin1 for the VTOL_TAKEOFF command >>> I have test OK on SITL but I need to clarify it before real test.
Why this change? I think the old option is better since it recognizes the HOME point when you arm