I was in naza mode, all I can say is when it lost or invalid battery it lost gps location and it was drifting with the wind. I used the find my phantom and it gave me a location about 1000 feet from were I was. I went there but no vision. So I just walked in the direction the wind was blowing and about another 1000 feet I found the phantom. It was not pilot error, I tried home lock and then I lost connection. it should have come home om its own. But like I said I think it lost it location when the battery failed. the video shows it drifting and every minute or so it would go in a circle and just keep drifting with the wind. I had 10 satellites and good compass calibration before take off. SO to all you **** heads that think It was my fault , YOU CAN KISS MY ***.................