Ascend before RTH?

I'm flying in mountainous terrain.  What is the expected behavior in a failsafe event, when my RTH altitude is higher than current altitude?  Fly towards home while ascending?  Or can we circle until the RTH altitude before returning?

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  • +1 for terrain following. Also, you can set Rally Points (I believe their called) so it will go to the closets one and follow that path home in the event of a RTL if you can't do terrain following or don't have terrain data.

  • +1 for terrain following. Also, you can set Rally Points (I believe their called) so it will go to the closets one and follow that path home in the event of a RTL if you can't do terrain following or don't have terrain data.
  • If you do a commanded RTH, it will turn immediately toward home then start to ascend.  If you're flying in a mountainous area, I highly recommend you use the terrain following feature to avoid flying into a hillside.

    • Thanks for the reply, Scott.  Is the behavior the same for a failsafe RTH? 

      I'm using APM 2.6 so I guess I'm out of luck on terrain following.

      • Failsafe RTH will first circle for the "long fs timeout" time, then engage RTL which does what I said above.

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