RTH disables most of the VPS sensors. It will be limited. Forward VPS mainly. It will still gain altitude on an incline for RTH. You need to have your return to home set to a high enough altitude to avoid major obstacles . Intelligent Return to Home just means it takes a picture of the ground before take off and will use its GPS to get back and anaylize the ground on landing to find the exact spot you took off from. It's not a 100%. I never use RTH unless it's an emergency etc. I always fly it back myself. Use the option sparingly.
I guarantee if your someone who uses RTH all the time it will crash. It works but I only use it in a field or open area then I take over when I see it or have my bearings straight.
So short story. Your Forward VPS is disabled regardless of mode. Your over analyzing the feature Intelligent Return to Home. It just means it remembers the exact spot you took off from by using GPS and taking a picture of the ground.
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