[Bug] The Breach Return Point set in QGC is invalid.

[Drone-Lab]

Describe the bug

When we set up a geofence and a Breach Return Point in QGC, and manually fly the drone into the geofenced area, even with RTL TYPE set to 3 (Closest Safe Destination Return Type, RTL_TYPE=3), the drone ignores the Breach Return Point and returns to the home point instead. It appears that the Breach Return Point is a non-functional feature. I couldn't find any documentation for this feature in the official PX4 documentation

To Reproduce

1. Take off the drone and upload the geofence. Add a Breach Return Point near the geofence in QGC.
   

2. Manually control the aircraft to fly towards the restricted area, making contact with the geofence (It's not possible to set a direct course into the restricted area, but you can set a route outside the restricted zone).
   

Expected behavior

Even when the Breach Return Point is closer than the home point, the drone does not navigate towards the Breach Return Point after breaching the geofence.

Screenshot / Media

No response

Flight Log

none

Software Version

HW arch: PX4_SITL
PX4 git-hash: 83841d1
PX4 version: 1.14.0 0 (17694720)
PX4 git-branch: main
OS: Linux
OS version: Release 5.15.0 (84869375)
Build datetime: Nov 14 2023 17:45:03
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.4.0
PX4GUID: 1006554d49534954414c44494e4f30303030
UNKNOWN MCU

Flight controller

none

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

[sfuhrer]

With current main it works as expected. I here set RTL_TYPe to 3.
https://github.com/PX4/PX4-Autopilot/assets/26798987/61167af5-4649-45a8-b367-b2561b22ca85

The same in v1.14 for me, it also correctly goes to the rally point.

[Drone-Lab]

With current main it works as expected. I here set RTL_TYPe to 3. https://github.com/PX4/PX4-Autopilot/assets/26798987/61167af5-4649-45a8-b367-b2561b22ca85

Nice work,thanks for your contribution!