For some reason the copter when it hit RTL decided to osscilate and crash. I think because the decent was set too fast. I read that RTL uses WP_NAV_SPEED which was set to 400. 

What do you think caused the crash? Too fast a decent or an unbalanced copter? What recommendations do you have (other than for not being an idiot with your geofencing) :D

2016-01-26 05-35-36.log

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  • if motors are allowed very low throttle, and a rapid descent, the air can blow so hard on the props, that it gets trouble staying in sync.

    you could try to increase minimum throttle.   - or it can be a bad tuning..

    some instability during rapid descent is normal, as it's in it's own turbulence, but that was bad.

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