At 3.4V the critical autolanding kicks in and it will start decending. I nudge the elevator stick up until I see altitude maintained and then I'll back off just bit to perhaps take a bit of altitude off if needed. You want to be very low at this point as the battery can drop off very fast below 3.4V. In my case I was very close to home and I decided to just go for it. I couldn't be as low as needed because there is a hill right before the spot I'm flying from as well as some trees. This was make or break time I simply couldn't make it. Once you hit 3.0V at speed, you have maybe 20 seconds before Mavic will drop out of the sky. You need to be low and going for landing at this point. I pushed ahead and failed. I really didn't have a good spot to land, though I suppose I could have tried for the parking lot I was flying over. I would have had to drop a lot of altitude quickly to do that. Checking my controller flight log I see that I flew on critically low battery (sub 3.4V) from over 2500ft out. That's really asking too much of the Mavic. I needed to be less than 2000ft out when autolanding kicked in, especially with the headwind I had.
*** keep in mind this is a stock mavic with platinum 8331 props. If you have a lot of weight, it may not be able to fly at such low voltage. With 8330 propellers, you also can't fly with voltage that low as they need more rpm for lift. I was flying at sub 2.5V per cell at the end and maintaining altitude briefly, but voltage fell off quick.
Here is link to the flight log:
DJI Flight Log Viewer - PhantomHelp.com