Is it possible to perform a RTL without actually landing?
That is, when you hit RTL the drone will return to the launch point, at a set height, without continuing to a landing.
Check the RTL parameters
but check all the RTL values and read their description, very useful!
You could even set RTL loiter time to a very large value so the craft would eventually land, well it should anyway once it reaches battery failsafe.
See RT_ALT_FINAL in the Wiki: