"I believe I've answered my own question. I recreated the symptoms, where it fails to come back up to the correct altitude after going down to a lower altitude. I had the parameter WPNAV_RFND_USE set to 1 (enabled). Changed it…"
"Just had an experience (crash) that bears on this discussion. It was an Auto Mode mission starting from my backyard, going up to 40m to avoid some low hills, flying out to a lake which is about 65m lower than my yard, dropping to 15m for a…"