hello there,
these is the main problem i am having while putting the drone in rtl or auto mode , spped varies in between 5ms to 1ms randomly https://drive.google.com/drive/folders/1Y1PGpt1vFF7pnHqw6ZTdYJ8OZCiHIXDm?usp=sharing
Was the copter been properly tuned like explained in the documentation?
Can you please post a .bin file?