Hello all,

  I am not new to APM or arducopter, but I wanted something easy so I bought an Iris+. I have flown about 10 batteries and it was flying great until this afternoon.

  I had one good flight, landed and put a new pack in and took off in Alt hold mode (since I am using the TX as it was setup). I Switched to loiter mode and the IRIS hovered fine for a minute, and then started acting unusual. It started to not respond to my inputs, so I switched to RTL and the IRIS started to climb and fly away. It was like I had very little input into what it was doing. I switched back into Alt Hold mode with no change. I managed to get it to come back to me and got all the way down to a few inches off the ground, put throttle to min, and it proceeded to accelerate sideways and slammed into the side of my house.

   This is quote unnerving and I really need to get to the bottom of it before I fly again. I am running Copter 3.2.1. I have attached my log, if anyone has any insight into what the heck was going on I would greatly appreciate it.

 -Steve

30.log