Hi all,
Today I did a simple mission: take-off to 200m, circle twice at 200m and RTL. Worked perfectly. However, RTL was a bit slow to come down again.
I checked the log and during RTL, the climb rate (CTUN.Crt) was -200. CTUN.DCrt was also -200. However, my WPNAV_SPEED_DN is set to 300 
What may limit the descent to 2 m/s? The way up happened with 500 cm/s as specified by my WPNAV_SPEED_UP parameter so I don’t really understand why the copter is not trying to reach a climb rate of -3 m/s during RTL.
Thank you.
Cyril