Today I did some very nice flights with my hex.
Altitude hold works fine. Keeps a steady height. Pos hold is very firm and I tried pulling the quad a couple of time from its position and it returned without flaws and overshoots.
One thing I did notice is when I engage RTL, the hex flies in the correct direction to its home position also without overshoot, but drops in height. If I engage RTL from 50m away at a height of 3m I have to give some manual thrust to stop it hitting the ground when its allmost at its homeposition. Sometimes I let it flyclose to the ground without manual correction, but its doesn't regain the altitude of the start position.
Is there a pid setting I can tune for this?