OP already addressed this. His settings reset after the firmware update (so did mine - I knew to check because of his post) so what he expected to be a low battery warning was actually the RTH 10 second warning and he didn't see the box because he was focused on the menues. It's a shame, easy mistake to make, reasonable (although problematic) assumptions and a good lesson to learn. OP's not an idiot and he generously shared this experience for us to learn from. I really appreciate the humility.
I've read a lot of these kinds of stories, including seeing my dad lose signal six feet away from his Mavic which subsequently RTH'd straight up into an overhanging branch of a tree badly damaging the gimbal. He made a reasonable assumption that the Mavic wouldn't lose signal and it came back to bite him.
It's all about the assumptions we make. I've made a concerted effort now to run through a checklist of setting and checking the home point, confirming and adjusting RTH settings, battery settings, controller settings and running through the status report every time before I take off. As a fixed wing single engine pilot I have checklists engrained in me. We check that turning the yoke moves the ailerons in the correct direction before every single flight. It's ludicrous to think an aircraft mechanic reversed the cables by accident and didn't check or that the person who flew the rental plane before you didn't notice, but we check every time anyways. This kind of patient diligence is what will save us all from the very easy to make disastrous mistakes.
Thanks again OP. You taught me something important.