I guess this is a “Rave” rather than a “Rant”.
There is nothing like seeing $1500 fly off over the trees and out of sight…
…only to return as if by magic once you have the presence of mind to activate RTL. Thank you, Ardupilot 
Despite the fact that Ardupilot has all sorts of features and gizmos, at the end of the day, that is the number 1 reason for having a FC on my aircraft !