RTL > How to return to HOME by the path traveled and Autolanding in Home point?

With plane, RTL can be set to LOITER over one Rally Point. But, how can I design one mission to RTL return to HOME by the path traveled?

If DO_LAND_START is used and the Rally Point is before this command the plane will stay in loiter over this RP without continuing to the DO_LAND START for autolanding in Home point.