The strange issue of climbing before RTH when the drone is already well above the set RTH height has gone.
That's good as it was a complete mystery and I couldn't see what caused it.
I wonder if what you report as squirrelly flight was just the effect of gusty winds which are evident in the data?
RTH is a slow flyer and cruises home at 10 metres/sec (22mph) in still air.
If you do the driving, with obstacle avoidance disabled, you can make 16 m/s (36 mph).
This RTH maxxed at 9.2 m/s but was slowed some of the time by gusty winds up at 188 ft.
Although it's not climbing past RTH height and is coming home, there's one thing that's not quite right.
When you initiated RTH, the OSD.goHomeStatus data changes from Standby to Align and Cruise.
But after only one line of data, Cruise mysteriously changes to Other for the rest of the return flight.
@sar104 ??