The very first DJI Naza flight controllers also had return to home and they had no sensors as they were a stand alone unit that you used to build a multi rotor and install it on the frame and wire it all up
They primarily use GPS for the return to home function that is why without obstacle avoidance systems you need to make sure you set your RTH height higher than obstacles like trees and buildings before you take off from your flying site
I thought smart return to home is more related to the capacity of the drone to determine how much battery is left related to its distance to the home so it will engaged auto return if battery is borderline related to its location.
The very first DJI Naza flight controllers also had return to home and they had no sensors as they were a stand alone unit that you used to build a multi rotor and install it on the frame and wire it all up
They primarily use GPS for the return to home function that is why without obstacle avoidance systems you need to make sure you set your RTH height higher than obstacles like trees and buildings before you take off from your flying site
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