# Safety Point Planning

Safety points are alternative [Return Mode](https://px4.gitbook.io/px4-user-guide/flying/flight_modes/return) destinations/landing points. When enabled, the vehicle will choose the *closest return destination* of: home location, mission landing pattern or a *safety point*.

![Safety Points](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-975da36c2accf801c6b741eaa35de6587d1e51f4%2Frally_points.jpg?alt=media)

## Creating/Defining Safety Points

Safety points are created in *QGroundControl* (which calls them "Rally Points").

At high level:

1. Open **QGroundControl > Plan View**
2. Select the **Rally** tab/button on the *Plan Editor* (right of screen).
3. Select the **Rally Point** button on the toolbar (left of screen).
4. Click anywhere on the map to add a rally/safety point.
   * The *Plan Editor* displays and lets you edit the current rally point (shown as a green **R** on the map).
   * You can select another rally point (shown as a more orange/yellow **R** on the map) to edit it instead.
5. Select the **Upload Required** button to upload the rally points (along with any [mission](https://px4.gitbook.io/px4-user-guide/flying/missions) and [geofence](https://px4.gitbook.io/px4-user-guide/flying/geofence)) to the vehicle.

:::tip More complete documentation can be found in the *QGroundControl User Guide*: [Plan View - Rally Points](https://docs.qgroundcontrol.com/master/en/PlanView/PlanRallyPoints.html). :::

## Using Safety Points

Safety points are not enabled by default (there are a number of different [Return Mode Types](https://px4.gitbook.io/px4-user-guide/flight_modes/return#return_types)).

To enable safety points:

1. [Use the QGroundControl Parameter Editor](https://px4.gitbook.io/px4-user-guide/advanced_config/parameters) to set parameter: [RTL\_TYPE=3](https://px4.gitbook.io/px4-user-guide/advanced_config/parameter_reference#RTL_TYPE).