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?