Need RTL and battery failsafe in writing. [url=https://inavflight.net/guides/failsafe-configuration]failsafe configuration[/url] is the page I bookmarked. Set that before you leave the field with GPS.
Looking for INAV in one place for UA pilots: firmware, Configurator and the guides. [url=https://inavflight.net/ua]INAV Ukraine[/url] is the page I send people when they ask where to start.