Ouch! Looks to me like the right back motor/prop lost propulsion. Either prop or motor loss. At time 5.7 secs the Air 3s begins to rotate in all 3 axes: pitching up, rolling CW and rotating CW about the Z axis (yaw). This is consistent with right...
I use lidar regularly. I launch from my covered patio deck and RTH to the same home point. It has to dodge a couple of med and tall trees, but it has been 100 % reliable. I do stay on the controls monitoring its return just in case…you never...