Hi, I did have the same issue here …
I’ve just re-tuned my pid settings ( raised P on roll and pitch until it induces a wooble, then raised I and D )
Did a couple of “free-fall” checks and put throttle back then it goes level within a few meters, basically ok if the copter falls due to baroglitch in AltHold mode … just have to check some RTL in the next days …
I wonder if there’s some settings which tells the quad to stay leveled even if it falls ( throttle < 20 % )
or a min_throttle after takeoff setting or a maximal height drop / sec : 3m/s would be also a great value …
I’ve previously encountered some problems while testing RTL, some baro glitches leaded to previous crashes, so I’ve got to insist on PID settings … cause it is the thing I’ve skipped a lot …