Went out to test the new parameters, Randy's patch etc. and all went fine! The copter was able to maintain its altitude and lost a little bit of yaw. I was all the time in loiter and have not touched the sticks all the time. My main goal today was to test the test environment. I was equipped with gimbal etc. and there were no wind at all, so I was afraid of vortex ring ( lots of power and no wind ) to bring the copter down;
I'm uploading the video to youtube and will post in a few minutes the log along with the video.
I would ask the community to review the log and give your toughts if I can go ahead and test RTL etc.
While I was in the field testing, I was wondering that AC could detect the motor failure and implement a few safety measures, like reducing roll/pitch angle and engaging simple or supersimple mode automatically. That would be awesome.
Thanks @rmackay9 for your patch and everyone that helped with insights and sharing their experiences: @Ivosch , @pat_ballard, @fpvberlin , @wyq200704, @cookmangr and @Andre-K ( sorry if I forget somebody )
By the way, the patched firmware worked like a charm! Now I believe it is safe to test if anyone is confident with the procedyre.