On my last flight today (quadcopter with APM2 running v2.9), at one point quite close to me I saw my quad do an uncommanded yaw, climb and start flying toward me. Looking at the tlog later I see it went into RTL but I was in Stabilize at the time and did not switch to RTL!
My Rx is set to go to ~920ms for failsafe but the logs show CH3/THR as normal so no failsafe?
I have 6 modes setup on my Tx via 2 switches, mode 6 is RTL (1877ms), mode 1 & 2 are Stabilize (1074ms & 1274ms), when I realised something was amiss I switched from STB2 to STB1 and it switched out of RTL and back into Stabilize as shown on the attached kmz file, then it flew normally and I landed with no problem.
So why on earth did it do an uncommanded switch to RTL?
Did it detect some kind of failsafe error? If so what?