I am watching my video from last test flight.
I had strong wind - enabled RTL (same as if I lost connection) - and the plane turned nice to home, being at Altitude 160m - maybe 100 meters from home, it flew at 0% throttle and 0-1m/s speed for several minutes, needless to day, almost not coming home at all. If the wind was a bit stronger, I may be able to fly backwards.
Is autopilot using airspeed ? (no throttle was set - is that because of sufficient altitude and airspeed?)
Can autopilot be told to ensure that the distance to home decreases - apply throttle even if altitude is good ?