@juzzle1 wrote:
I've posted on github about this in an existing topic, but not sure if it's been seen ([issue #1971]).
To describe it simply:
Copter is in stabilize mode, with significant horizontal velocity (>10m/s) and is also climbing at a significant rate.
RTL is then engaged, which causes huge instability in the attitude of the copter.
It seems to me this is caused by the RTL attempting to stop climbing (with very low motor output) whilst also attempting to yaw to home direction and simultaneously attempting to move horizontally to the home position.
In my case, this caused the copter to almost rotate upside down momentarily when RTL was engaged.
It recovered from this but I suspect others might not be so lucky.My flight logs are attached in the github post.Flight Log
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