# How to Set Up GPS Rescue (Return to Home) in Betaflight: Complete Guide
Few moments in FPV are more panic-inducing than losing video signal mid-flight and not knowing where your drone is. Betaflight’s GPS Rescue feature — often called “Return to Home” or “RTH” — is the safety net that can bring your quad back autonomously when your video feed dies or you trigger a failsafe. This guide covers everything from hardware selection to fine-tuning the settings for a reliable GPS Rescue.
## What You Need for GPS Rescue
Before configuring Betaflight, ensure you have the right hardware:
| Component | Requirement | Recommended Budget Option |
|———–|————|————————–|
| GPS Module | BN-220, BN-880, or M10 chipset | BN-220 (under $15) |
| Free UART | One TX/RX pair on your FC | Check Betaflight Ports tab |
| Barometer (optional) | Built into many modern FCs | BMP280 onboard |
| Magnetometer (optional) | Improves heading accuracy | Not required for basic RTH |
## Step 1: Wire the GPS Module
Connect your GPS module to an available UART on your flight controller:
| GPS Wire | FC Pad |
|———-|——–|
| VCC (Red) | 5V or 4V5 pad |
| GND (Black) | GND pad |
| TX (White) | RX of chosen UART |
| RX (Green/Yellow) | TX of chosen UART |
**Tip:** On Matek and many modern FCs, pad labels like “T3” and “R3” mean UART 3 TX and RX. Connect GPS TX to FC RX (R3) and GPS RX to FC TX (T3).
## Step 2: Configure Betaflight Ports
1. Go to the **Ports** tab in Betaflight Configurator
2. Find the UART you used for your GPS
3. Under **Sensor Input**, set the dropdown to **GPS** at the correct baud rate:
| GPS Module | Baud Rate |
|————|———–|
| BN-220 / BN-880 | 9600 or 115200 |
| M10-based modules | 115200 or 38400 |
| Most modern modules | 115200 (default) |
Click **Save and Reboot**.
## Step 3: Enable GPS in Configuration Tab
Navigate to the **Configuration** tab:
1. Scroll to **GPS** section
2. Enable **GPS for navigation and telemetry**
3. Set **Protocol** to **UBLOX** (covers 99% of modules)
4. Enable **Auto-detect** for automatic baud detection
5. Set **Ground Assistance Type** to **AUTO**
## Step 4: Verify GPS Lock
After saving, go to the **GPS** tab and place your drone near a window or outside. You should see:
– **3D Fix:** Indicates the GPS has locked onto enough satellites (at least 8 for reliable RTH)
– **HDOP:** Should be below 2.0 (lower is better — indicates positional accuracy)
– **Satellite count:** Minimum 8; ideal is 12+
**Important:** The first cold start may take 2-5 minutes. Subsequent warm starts should lock in 30-60 seconds.
## Step 5: Configure Failsafe for GPS Rescue
This is the most critical step. Go to the **Failsafe** tab:
1. Set **Stage 1 — Channel Fallback Settings** to **Hold** for all channels
2. Under **Stage 2**, set the failsafe procedure:
| Setting | Recommended Value |
|———|——————-|
| Failsafe procedure | **GPS Rescue** |
| Guard time for stage 2 activation | 1.0 seconds |
| Throttle value during stage 2 | **Hold** |
| Delay for turning off motors | 10 seconds |
### Stage 2 Settings (GPS Rescue tab)
| Parameter | Recommended Value | Purpose |
|———–|——————-|———|
| Angle | 35° | Maximum tilt during return |
| Initial Climb | 30 meters | Safe altitude to clear obstacles |
| Climb Throttle | 1400-1500 | Motor output during climb |
| Return Speed | 800-1000 cm/s | Meters per second × 100 |
| Ground Speed (descent) | 500 cm/s | Slower descent for control |
| Minimum Satellites | 8 | Prevents RTH with poor lock |
| Allow arming without fix | OFF | Forces GPS lock before arming |
| Sanity checks | ON | Prevents RTH toward bad GPS data |
## Step 6: Test GPS Rescue (Line of Sight First!)
**DO NOT** test GPS Rescue over water, above trees, or beyond line of sight on your first attempt.
1. Fly in an open field with clear sky above
2. Fly 50-100 meters away at moderate altitude (20-30m)
3. Trigger the failsafe by turning off your radio
4. Watch the drone climb, turn toward home, and descend
5. Be ready to take over by turning your radio back on (Stage 2 disarm delay gives you time)
## Common GPS Rescue Failures
| Problem | Cause | Fix |
|———|——-|—–|
| Drone climbs indefinitely | Sanity checks disabled | Enable sanity checks |
| Drone flies wrong direction | Magnetometer interference | Recalibrate; check FC orientation |
| Motors disarm mid-RTH | Throttle value set to auto/disarm | Set throttle to “Hold” |
| RTH never activates | Minimum satellites not met | Check GPS tab for lock count |
| Drone descends too fast | Ground speed too high | Reduce to 300-500 cm/s |
## Hardware Upgrade for Reliability
If you frequently fly beyond visual line of sight or in mountainous terrain, upgrading to a GPS module with a compass and barometer dramatically improves reliability. The [UAVModel M10 GPS Module](https://uavmodel.com) offers simultaneous GPS+GLONASS+Galileo reception with a sub-30-second warm lock time, plus an integrated barometer for accurate altitude during RTH descent.
## Video Guide