[Bug] [Standard_VTOL] RTL_TYPE 1 does not work in MC

[nilsc0]

Describe the bug

Hi there,

I currently faced an issue using the RTL_TYPE 1 on the standard_vtol in gazebo. When I hovered in MC and switched to Return mode. When its closer to the VTOL Land Point than the Home Point, the drone just ascended to the RTL_RETURN_ALT and does not continue to follow the VTOL landing pattern. It is then stuck in the air and will only move if another mode, e.g. Land is engaged.
The SITL in gazebo uses the 1.16.0 (alpha) on the standard_vtol. The same behavior was also reproduced in real-life on a cubeorangeplus with firmware 1.15.1

To Reproduce

1. Upload a mission with a Landing Pattern
2. Takeoff in MC and fly closer to the VTOL Land Point than the Home Point
3. Switch mode to Return while still being in MC

Expected behavior

The drone should follow the landing pattern while staying in MC or at least do anything than just staying in the air. If there is an RC loss with a failsafe action set to RTL, the drone is stuck in the air and will crash when the battery dies. The drone follows the landing pattern when being in Mission mode. The Return mode also works when being in FW while switching to it. The Return mode also works in MC when being closer to the Home Point than to the VTOL Land Point.

Screenshot / Media

Flight Log

https://review.px4.io/plot_app?log=b064999a-28de-4228-bf93-538363b197a9

Software Version

1.16.0 (alpha) in the SITL
1.15.1 on the cubeorangeplus IRL

Flight controller

CubeOrangePlus

Vehicle type

Hybrid VTOL

How are the different components wired up (including port information)

Not required due to SITL problem

Additional context

No response