Skystars F722 landing RTH

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****hello, I am following my tests of the rth which has a problem. when the drone turns before initiating the descent, the bometer goes negative and the drone climbs on its own. Everything else is working

Current Behavior

Steps to Reproduce

1. after alt10m and 50m 2.switch rth

Expected behavior

Suggested solution(s)

Additional context

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Entering CLI Mode, type 'exit' to return, or 'help'

diff all

version

INAV/SKYSTARSF722HD 5.1.0 Aug 19 2022 / 12:53:41 (76f22b25)

GCC-10.2.1 20201103 (release)

start the command batch

batch start

reset configuration to default settings

defaults noreboot

resources

mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000

servo mixer

servo

safehome

feature

feature GPS feature PWM_OUTPUT_ENABLE

beeper

blackbox

blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS

map

map TAER

serial

serial 4 2 115200 115200 0 115200

led

color

mode_color

aux

aux 0 0 4 1700 2100 aux 1 51 5 1700 2100 aux 2 1 1 900 1300 aux 3 11 2 1300 1700 aux 4 10 3 1300 1700 aux 5 52 0 1700 2100 aux 6 27 0 1300 1700

adjrange

rxrange

temp_sensor

wp

wp 0 invalid

osd_layout

osd_layout 0 0 23 0 H osd_layout 0 1 12 0 H osd_layout 0 7 23 11 V osd_layout 0 11 23 8 V osd_layout 0 12 23 7 V osd_layout 0 13 1 9 V osd_layout 0 14 1 11 V osd_layout 0 15 1 10 V osd_layout 0 22 14 11 V osd_layout 0 23 1 8 V osd_layout 0 28 22 10 V osd_layout 0 32 23 9 V

logic

global vars

programmable pid controllers

master

set looptime = 500 set gyro_main_lpf_hz = 110 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 120 set setpoint_kalman_q = 200 set gyro_zero_x = 2 set gyro_zero_y = 4 set gyro_zero_z = -5 set ins_gravity_cmss = 976.719 set acc_hardware = BMI270 set acczero_x = 22 set acczero_y = -71 set acczero_z = -22 set accgain_x = 4086 set accgain_y = 4083 set accgain_z = 4088 set align_mag = CW270FLIP set mag_hardware = QMC5883 set magzero_x = -245 set magzero_y = -796 set magzero_z = 1008 set maggain_x = 1467 set maggain_y = 1479 set maggain_z = 1582 set align_mag_roll = -300 set align_mag_pitch = 1800 set align_mag_yaw = 2700 set baro_hardware = BMP280 set serialrx_provider = CRSF set blackbox_rate_denom = 2 set motor_pwm_protocol = DSHOT300 set failsafe_procedure = RTH set align_board_pitch = 2 set current_meter_scale = 290 set motor_direction_inverted = ON set model_preview_type = 3 set applied_defaults = 2 set gps_sbas_mode = EGNOS set gps_ublox_use_galileo = ON set airmode_type = THROTTLE_THRESHOLD set nav_rth_altitude = 2000 set i2c_speed = 800KHZ

profile

profile 1

set mc_p_pitch = 44 set mc_i_pitch = 75 set mc_d_pitch = 25 set mc_i_roll = 60 set mc_p_yaw = 35 set mc_i_yaw = 80 set dterm_lpf_type = PT3 set d_boost_min = 0.800 set d_boost_max = 1.200 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60

profile

profile 2

profile

profile 3

battery_profile

battery_profile 1

set throttle_idle = 5.000

battery_profile

battery_profile 2

battery_profile

battery_profile 3

restore original profile selection

profile 1 battery_profile 1

save configuration

save

• FC Board name and vendor: skystars f722
• INAV version string: 5.1

[breadoven]

Is this related to https://github.com/iNavFlight/inav/issues/8381 ?