Over $2000 of damage for this reason, switch from RTL to Stabilize with the throttle stick to lowest position, ie motors off.
In fact in our code lacks this obvious safety check, we do not have a check if switch from any automatic flight mode to Stabilize or Acro and the throttle stick too low for any reason (distraction, etc).
So I think it needed a simple patch with a parameter: when switch from any automatic flight mode to Stabilize or Acro first check the throttle stick value, if it's lower than the value of "THR_SFT" (new parameter for example, similar to THR_MID but obviously with a lower value) ignore the mode switch, but by moving the throttle stick over that value switching occurs without having to switch back again.
Personally I'd rather have the ability to disable this protection, so if the parameter "THR_SFT" is "0" this security check will not be enabled.
Unfortunately a friend has happened this:
https://www.youtube.com/watch?v=KLW1wouIGbA&list=UUPcCCiqkWYZmvxVgHhDZDHA
Over $2000 of damage for this reason, switch from RTL to Stabilize with the throttle stick to lowest position, ie motors off. In fact in our code lacks this obvious safety check, we do not have a check if switch from any automatic flight mode to Stabilize or Acro and the throttle stick too low for any reason (distraction, etc). So I think it needed a simple patch with a parameter: when switch from any automatic flight mode to Stabilize or Acro first check the throttle stick value, if it's lower than the value of "THR_SFT" (new parameter for example, similar to THR_MID but obviously with a lower value) ignore the mode switch, but by moving the throttle stick over that value switching occurs without having to switch back again. Personally I'd rather have the ability to disable this protection, so if the parameter "THR_SFT" is "0" this security check will not be enabled.