A couple flights this morning using my trusty old ArduPilot Legacy & ArduIMU. Separate Mediatek GPS's on both AP and the Remzibi OSD. A Hobbyking 420 TVL camera provides the video sent back to the ground via a BOB Fox 700 1.2GHz transmitter. FPV is done with video goggles. Radio is a Hitec Aurora 9.
After switching to RTL (return to launch) the plane turns very well and returns towards home banking about 70m before 'home' and then goes into a stable loiter pattern at a height of around 70m and loiter radius of 70m.