Not impressed by the pilot. I don't know FAA rules but here in the UK, CAA rules really clearly make that sort of flying illegal. It seems like we are on an inevitable course for more licencing. Drones are going to become allmost as common as cars and I bet we will need a drone pilots license soon.
If there are history buffs on the forum, might be interesting to look at the history of driving licenses. Did people need a license to drive before Ford invented the model T? Were there a spurt of accidents that pushed the governments to instigate licenses? I think we could learn from this.
Not that I have read all the comments, so many so obviously it has stirred up emotions, but for my 10 cents worth, as you were set on RTH, why didn't you take control when near home, just out of range for an the upset gentleman and film the episode with him holding his knife and driving behaviour. Law enforcement would love to have that bit of evidence if they were going to pursue a charge.
It may have also made America's Funnest Videos or whatever the show you guys have. May have been able to win the $20k.