Thanks for taking a look, Paul. At least it’s been addressed and just a matter of getting the fix into the mainstream release.
At first I thought it wasn’t using the baro. But I did notice the baro tracking the vertical position (DAlt) and that’s what raised an alarm that it was an EKF issue related to the height at arming. And that height remaining consistent with the GPS while the control system went down. That’s why the heli was actually at ~1.5 meters at the final waypoint - the control system (DAlt) said it should be there. What I didn’t know was why. Now, after reading the PR thru I have a better understanding of it.