Why are so many of you afraid to use RTH? It's basically autopilot. I'm an airline pilot and we fly autopilot 100 feet after takeoff to 100 feet before landing. Use RTH and let it return to home above you and switch to angle mode. Why in the world would I want to manually fly something when it has an automatic feature? I use RTH all the time and would be stupid not to. I've been flying RC for 35 years and RTH is one of the best features I've seen. Saying RTH is a panic switch is a bunch of bologna.
I rarely use it, and as you said I've used it a couple of times to get the aircraft close to me and then switch back to Angle and keep flying or manually land. Only once used it as "Panic" switch when I lost telemetry info on the remote and it was out of my sight (I know.. VLOS, spare me the lecture)
There's a couple of reasons why I don't really like the automated landing part:
1) Descent rate is too fast, I don't like how it bounces off and stresses the landing gear assembly + gimbal
2) The few times I've used it, it didn't idle motors, it just leaved them on the minimum speed yet "ready to fly" and cuts them off.
Why in the world would I want to manually fly something when it has an automatic feature? I use RTH all the time and would be stupid not to.
I've been hearing this for yeaaaars while happily driving my manual car. "manual is stupid...automatic is best" well some people just like to have more control.
Also, speaking of control. If there's an issue with GPS signal on the H or the ST16 using the Home mode will serve your aircraft no purpose as it fully depends on GPS location.
Anyway its just my opinion, I'm relatively new to UAV world, and I am no airline pilot so perhaps I'm in the wrong