You say you charged the batteries, and did firmware updates, but did you ever calibrate the compass? A wandering drone usually means a bad compass calibration. Once you saw the initial drift, you did a stick calibration. I would have done a compass calibration and some test flights in a more controlled environment before venturing out as you did. Your RTH altitude was obviously not planned well. In your eagerness to fly, you ignored several items in you flight plan, or lack thereof. Same with your buddy. Good luck, hope everything works out. Lessons learned.
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