RTL comes home at right altitude. FBW-A flies nice. so PID's ire not too bad.
When in AUTO, AP applies negative pitch, and would hit terrain.
WP altitude is 100 -"Verify Altitude" not checked in planner.
I see in the log that targetalt = 103 and targetaltd100=1,0285 (what is this value??)
Actual altitude is 73, and AP is still descending at -7 degree when going for first WP. - any idea of why ?