They just don't get any weirder than this flight. The RC connection was lost at about 172.465 secs and the AC continued it's mission. At about 236.58 secs for some reason GPS was lost (A on the image below) and the AC meandered until it ended up at point B at about 379 secs.
Then it really got weird starting around 385 secs. The P4P went through 12 iterations where
1) no GPS & RC disconnected would cause an auto land
2) descend to a height of about 2 meters, for some reason GPS is acquired (more on this below)
3) since GPS is good decides to go home
4) starts to ascend to RTH height
5) loses GPS
6) go to step 1
Finally, at the 12th iteration the cycle is broken and the RTH is succesful
Here is the info from the eventLog stream during one of these iterations.
435.303 : 2244885148 : 24624 [L-FLYMODE][Ctrl<6>] REQ_RC_LOST AUTO_LANDING ctrl_auto_landing
436.101 : 2248477361 : 24664 [L-RC]Start landing. rc vib!
439.040 : 2261705334 : 24811 [L-WL][LOG]wl_cur_info.is_pos_available:0=>1
441.314 : 2271935691 : 24924 [L-FMU/FSM]near ground
442.221 : 2276016087 : 24970 [L-FMU/MOTOR]safe_near_grd:true
443.021 : 2279617109 : 25010 [L-DBG5]req_go_home_after_lost_sats [10]
443.061 : 2279796983 : 25012 [L-FLYMODE][Ctrl<6>] REQ_RC_LOST NAVI_GO_HOME ctrl_navi_go_home
443.081 : 2279887286 : 25013 [L-FLYMODE][LANDING] reset landing status
444.022 : 2284120419 : 25060 [L-DBG5]req_go_home_after_lost_sats [9]
444.164 : 2284760595 : 25067 [L-FMU/FSM]not near ground
444.181 : 2284836074 : 25068 [L-FMU/MOTOR]safe_near_grd:false
445.022 : 2288620430 : 25110 [L-DBG5]req_go_home_after_lost_sats [8]
445.801 : 2292126374 : 25149 [L-WL][LOG]wl_cur_info.is_pos_available:1=>0
445.803 : 2292136119 : 25149 [L-FLYMODE][ACT.msg] ACT_GO_HOME gps level no good enough for go home!
445.803 : 2292136579 : 25149 [L-FLYMODE][Ctrl<1>] REQ_RC_NORMAL ATTI_HOLD ctrl_gps_atti
445.823 : 2292227064 : 25150 [L-FLYMODE][GO HOME] reset go home status
453.022 : 2324620554 : 25510 [L-DBG5]req_go_home_after_lost_sats activated, requesting go home !
453.022 : 2324620695 : 25510 [L-DBG5]req_go_home_after_lost_sats cnt down finsh !
453.041 : 2324707309 : 25511 [L-FLYMODE][ACT.msg] ACT_GO_HOME gps level no good enough for go home!
453.903 : 2328585473 : 25554 [L-FLYMODE][Ctrl<6>] REQ_RC_LOST AUTO_LANDING ctrl_auto_landing
454.701 : 2332176818 : 25594 [L-RC]Start landing. rc vib!
458.441 : 2349005788 : 25781 [L-WL][LOG]wl_cur_info.is_pos_available:0=>1
459.814 : 2355185770 : 25849 [L-FMU/FSM]near ground
460.721 : 2359265845 : 25895 [L-FMU/MOTOR]safe_near_grd:true
461.461 : 2362597331 : 25932 [L-FLYMODE][Ctrl<6>] REQ_
Why you may ask does the GPS fail when the P4P gains some altitude. I don't know but here is another incident where that happened.
Worst flight ever with p4p I'm still shaking, no control but got it landed
