A control method for controlling a movable device includes controlling a motion of the movable device based on a plurality of flight commands in a normal mode; and controlling the motion of the movable device based on a plurality of inverse commands in a reverse return flight mode. An execution order of the plurality of inverse commands is reverse of an execution order of the plurality of commands, the plurality of inverse commands are generated based on the plurality of flight commands, and an operation of each of the inverse commands is opposite to an operation of a corresponding flight command.