Uchiha Madara's plan A for his revival was to make Uzumaki Nagato use Rinnegan's revival jutsu (Gedo Rinnei Tensei no Jutsu). However, when Nagato used this jutsu to revive everyone in Konoha, he mentioned that he cannot revive everyone. He can only revive those that only recently killed as shown in the picture below.
Another version of the translation is more clear in that there is a time limit to how long someone can die before he is brought back to life using this jutsu.
Which means that if one died long time ago, it would be impossible to brought back using this jutsu. This also fits the fact that he didn't use the jutsu to revive Yahiko. Because he can't.
After he used it, everyone was revived to the state right before they died.
Madara died of old age. If Nagato revived him using that jutsu, wouldn't Madara be revived as the old Madara that's about to die? Is this a miss on Madara's part? What is the logic behind Madara's revival plan? Why do Madara think that his plan A is a perfect plan (or the better plan), as shown when he complained to Obito about being brought back to life using Edo Tensei?