dji MATRICE 4 Series - Page 43

RTH Distance/Altitude
Suitable Lighting and
Environment Conditions
Unsuitable Lighting and
Environment Conditions
RTH distance
> 50m
Current alti-
tude < RTH al-
titude
The aircraft will plan the
RTH path, y to an open
area while bypassing ob-
stacles, ascend to the
RTH Altitude, and return
to home using the best
path.
The aircraft will ascend
to the RTH altitude, and
y to the Home Point in
a straight line at the RTH
altitude.
[1]
Current alti-
tude ≥ RTH al-
titude
The aircraft will return
to home using the best
path at the current alti-
tude.
The aircraft will y to the
Home Point in a straight
line at the current alti-
tude.
RTH distance is within 5-50 m
[1] If the forward-facing LiDAR detects an obstacle ahead, the aircraft will ascend to avoid the
obstacle. It will stop climbing once the path ahead is clear and then continue to RTH. If the
obstacle height exceeds the altitude limit, the aircraft will brake and hover, and the user will
need to take control.
• When Return to Home is set to Preset, a Direct Landing option will appear.
When enabled, aircraft will directly land when arrives above the Home Point.
When the aircraft is approaching the Home Point, if the current altitude is higher than
the RTH altitude, the aircraft will intelligently decide whether to descend while ying
forward according to the surrounding environment, lighting, the set RTH altitude, and
the current altitude. When the aircraft reaches the area above the Home Point, the
current altitude of the aircraft will not be lower than the set RTH altitude.
The RTH plans for dierent environments, RTH trigger methods, and RTH settings are as
follows:
DJI Matrice 4 Series User Manual
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