Hi Everyone. I am having some issues with RTL. It's flight path seems rather unpredictable. In the screenshot below I indicate my home position and the position of my RTL start. Rather than pick a nice straight path. My hexcopter dived toward me, and then, narrowly missed two trees and a backboard. The screenshot doesn't really give a fair assessment of how low my hexcopter got, but it swung through the basketball court very low.
Any ideas on how I can fix this? It seems part of the issue may be the return speed, but I would think, being a multi-copter, that RTL should choose more of a direct path, slow down near home, stay at the programmed minimum height until it's in it's location and ready to lower itself down.
I'm wondering if it possibly flew close enough to it's home location to no longer care about the minimum height when it shot past?
Any help would be appreciated. I've attached the log files.