There are a few threads on the RTH & Altitude, and I wanted to confirm a couple of important points with documented answers that were not opinions. I think this is an important point that should be clarified. The FAA uses MSL as a baseline, but obstructions are posted as AGL. For UAV Pilots, the small scale of our operations makes this a very relevant question. QUESTION 1: Is the RTH Altitude calculated based on the Home position altitude as the base? Example: Home point is 1000 ft ASL Flight area is 1200 ft ASL RTH Altitude is set to 100 ft What altitude will the bird RTH? If RTH is set based on the Home point, the bird would DESCEND and return. QUESTION 2: I read a thread that stated that if the bird is above 30M, it will return to home at it's current altitude. Again, is the 'above 30M' calculated based on current AGL or Home Point AGL?