Failsafe / RTL behaviour


I have a few questions about Failsafe,

With the DJI drones you can in principle specify a flight altitude at which the flight home should take place. How is that with Ardupilot?

Then on the question of triggering: I would like to set the failsafe so that it only leads to the return home in case of a radio interruption.

What are the right options?

If you have a look at the Ardupilot Wiki under Failsafe it will list all the failsafe functions available.