Ok.. Had a scarey event lastnight on first flight after downgrade to 1.5.7+. Home point recorded,auto takeoff,tested controlls and alls well so off i went,straight line. At 1400m loose signal,no RTH,signal keeps popping in and out(almost half full to nothing) so i initiated RTH when signal came on. Msg says "RTH distance 0m craft will land".(so it auto updated RTH mid flight) Heart picks up a little. Signal goes,comes back so i cancell RTH and hit atti. No vide so on the map i pointed craft to me and hit forward and waited. Sheer relief when i could hear it buzzing as it came closer. Attached screenshots from healthy drones. And how do i have altitude of -0.4m?