VTOL approach with rally point

[bendead]

Feature request

Is your feature request related to a problem? Please describe.

I am trying to trigger RTL near a rally point using STIL Quadplane 4.2.0 configured with Q_RTL_MODE=2, but if I am flying relative 100m and :

• I select a height of 100m on the rally point, the VTOL will circle around it, facing the wind then transition to QRTL at 100m.
• I select a height on the rally point = Q_RTL_ALT, then the drone might hit obstacle from RTL activation to landing.
• I select a height of 0m on the rally point, the VTOL start to go down as soon as RTL is activated then crash.

Describe the solution you'd like

I would like the VTOL to keep current height with ATL_HOLD_RTL=-1 or other value, then once at Q_FW_LND_APR_RAD start circling and descending, and finally when reaching Q_RTL_ALT, align with the wind and transition to QRTL

Describe alternatives you've considered

For the moment, the only way to do it safely is to use SET HOME HERE/SET HOME HERE on the DATA screen's map then trigger RTL

Platform [ ] All [ ] AntennaTracker [ ] Copter [ x] Plane [ ] Rover [ ] Submarine

Additional context _

[magicrub]

Have you considered using a DO_LAND_START for your landing?