Return to launch mode

This video demonstrates return to launch mode. Return to launch uses a combination of loiter mode and GPS lock. Once activated it climbs to a certain altitude, flies right above the launch point, loiters a certain amount of time, then descends until it lands. The altitude it climbs to, the time it loiters above the launch point and the speed of decent can be edited in the parameters list in mission planner.

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What flight controller is this?