The latest version of the Solo branch prioritizes altitude over speed/angle when in an altitude controlled mode. Alt Hold, Loiter, Guided, Auto, etc. If it detects the altitude beginning to decay, it will back off the angle slowing down and recovering the altitude lost (a few feet). As a result, it will back off around 30-35 mph and maintain altitude. Whereas before it would continue to accelerate faster and lose altitude. Which at least as of about a year ago is what any other Arducopter equipped bird would do too.
I’ve always felt that prioritizing altitude over speed is the way it should be in those modes that use altitude control. But perhaps a parameter to select it on or off would be better? Is this something that can worked into 3.5?