Ha, ha

Yeah, that's kind of a implied condition in that process ... but again, 0% (coming from the BMS) doesn't mean that the voltage level is damaging low, it's really close to 3,5V/cell which isn't hurting the battery a bit. All people that uses LiPo packs without a BMS chip knows that the first voltage alarm in the model (a FPV quad for instance) should be set at 3,5V/cell, the second alarm to 3,3V/cell ... this to give some headroom to get down before the battery sags below damaging 3.0V/cell. I'm using LiPo packs in my quads & always try to touch down at 3,5V/cell loaded ... once in a while it hits 3,4V/cell & those packs are perfectly fine even after 2 years use ... the capacity loss on the oldest packs comes with age & charge cycles, but the cell resistance is nearly equally good as a brand new pack.
Below is a DJI battery on 5% ... as you see, the voltage levels are a tad above 3,5V there & as soon as the battery gets unloaded & comes to rest the cells in general will recover about 0,2V when it comes to a LiPo ... so it will end up on roughly 3,7V/cell. The BMS will still report low percentages though ... the BMS recalculates when the battery gets charged.
So "a few hours" as you say is a slight overstatement ... the battery should be brought back to storage voltage within a 48h period if you want to treat it nice.
View attachment 150131
When it comes to a battery percentage on 20% I agree, that's a good level to aim for nicely landed & motors shut off ... but not necessarily due to that going lower is damaging.
Instead 15-20% is a good safety level:
- to counter for unforeseen delays during landing
- that the voltage level tends to drop faster below those percentages
- and lastly because you on those percentages still have some headroom to deal with voltage sags so no cell momentarily drops below 3.0V where the BMS in a DJI battery initiate a "forced low battery voltage auto landing".