"Francisco, thanks.  So if I set up a Logical switch in Taranis to say, L4 a=x for T1, with a value of 6 (RTL mode), and then set a custom function to call out "RTL Mode" if L4 = 6, it should work right? 
The only thing odd I saw in OpenTX is for T1,…"

"No that is not it- my info should be clear to one of the devs familiar with AC FrSky output, hopefully one of them is monitoring this thread.  AC does not send verbal commands of any kind over FrSky and I never said anything like that. The verbal…"

"Cala I think you are just having too much fun :D"

"No that is not it. I am not talking about selecting RTL manually on Ch5. That is self explanatory, right? :D
I need to know if RTL is invoked automatically by the FC for whatever reason (fence, voltage etc), if RTL is transmitted as the new flight…"

"Sorry to double post but I wanted to ask this specific question again- I like to fly with just the radio and no GS sometimes, and the more insight I can get into what the copter is doing at the radio the better.  I'm hoping that the mav messages…"

"Good to know. I guess the only potential bad thing about allowing yaw would be if the copter is not tuned properly, motor imbalance, or esc sync issue. Sometimes yawing one direction can cause quick altitude drop or gain depending on direction of…"

"Thanks Randy- that info is very helpful. Do you think it would be possible to add to the RTL Mode wiki page with these added notes? e.g. info on how to cancel RTL if needed, when stick controls are locked out, etc. - it would be helpful for new…"

"that's very nice to hear!!"

"yep on USB.  I had the quad hooked up to MP via USB for making some changes - i had the quick tab up with sat count specified. the quick tab sat count would increment as sats were added, but the white HUD overlay sat count stayed stuck on one number…"

"That's fine thanks for trying to help. I can't really say I had a fly-away since I was able to regain control as it was approaching. I had no idea it went into RTL mode and freaked out a bit with the control loss. Everything may have been normal,…"

"Yeh i have had similar with the HUD not updating things like Sat Count and Flight Mode.  I reported it several pages ago. The quick tab gauges always work, and the telemetry over FrSky to my Taranis always works but the HUD overlays lock up. this is…"

"Anyone know if failsafe RTL is sent as the current flight mode parameter over FrSky telemetry output?  I have FrSky telemetry working to my Taranis, and it is set up so it displays the T1 flight mode value from pixhawk on my screen.  If the copter…"

"yes i have that param set to 1.  however its not clear if that also applies to the return flight before it gets to the land sequence."

"I guess my outstanding questions here are:
If RTL is failsafe-invoked (fence, low batt, etc), are the RC stick controls locked out from user input? 
If I wanted to cancel RTL after it was auto-invoked what is the process? Flip the flight mode…"

"yeh I use Fence as a "safety net" - it's there in case things get out of hand. Even if you set up a very wide fence well outside of your planned flight distance at least you have one in place. 
I'm hoping one of the dev's here can set me straight on…"

"yeh ok i saw that as well- is it normal for the sticks to be locked out during an RTL event while it is flying back?  i hit the fence earlier and did not have that issue."