Is there any way to distinguish between RTL and loiter via the Mavlink? From what I can see, when an RTL command is active it is implemented as a loiter at the home position, so the flight status that is sent is loiter. The HK GCS and APM Planner both show "loiter" when RTL is selected. I am sure that I saw "home" or "RTL" when using one of the earlier APM loads, but not with 2.12. The only thing I can think of is to look for the active WP index being 0. Any other ideas?
Originally all the code was custom so it did whatever the dev team wanted now it has MAVLink integrated so APM must fit MAVLink. I believe I read that RTL is called Loiter because there is an RTL message in MAVLink but this may be outdated now as the code would seem to support both.
How do you mean distinguish? by the audio or name on the GCS or by sight or by some other means?