I'll just throw this out there, as I've not seen it discussed in this thread... The Critical Battery function, which causes the craft to auto-land is often (and fatally) misunderstood. Most people have the critical battery function set to 10%, and believe that the craft will begin descending when the battery reaches 10%. In fact, 10% is the target for landing. The craft does its calculations and starts the auto-landing process so that it is ON THE GROUND at 10%. Some poor guy who posted here a few months ago, lost his craft - by not understanding this (along with not understanding pretty much everything else there is to know). Flying more than 2,000 feet out, and over 1,200 feet up, the craft started auto-landing at around 21%. He had canceled low battery RTH, thinking he had more time. It takes a while for these things to descend from those kind of heights. The good news is, even during a critical battery descent (which cannot be canceled), you still have horizontal control - to keep the bird moving in a particular direction. But it triggers when it calculates that it has just enough juice to make it to the ground by the time the battery reaches the set value. So, fly low when you're running low on juice, to extend the time you have before the critical battery function kicks in.