On a bench we test our phone controlling 2 trolling motors. These will soon be put into a 9 foot boat. Our app has both manual mode and autopilot.
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https://www.youtube.com/watch?v=WsRW2LppuV0
It would not do "return to home" because after we took off it decided we should calibrate the downward cameras used for landing. Less than ideal behavior. We got it to land on the pad but it took longer than a RTH would have.
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https://www.youtube.com/watch?v=5xjvU_dHZX4