Skew
I've always liked the RTH the way it was and not the way it is in the FW now. The way it's now is bad because if you try to fly with the RTH switch activated a copter flies odd. I know your not supposed to fly with the switch on but if you do a copter should not have an odd return to home way of flying. I also don't like the way a copter controls after a mission is completed and you try to control it while still in mission mode. After a mission and still in mission mode it would best to have it control like the original RTH does when the switch for RTH is on.
I have two new AQ boards that I will start to use in an quad and octo in a couple of weeks. I'll try your FW when I get them flying.
Thanks for posting your FW mod.
Larry