I believe that the Flight Limits in the firmware may be at fault for some flyaways. From the DJI manual: "Non-GPS status"? Does that mean ATTI mode? So if I fly in either GPS or ATTI mode and penetrate the horizontal limit, the Phantom will return to the limit. Here is my theory, let me know if you see a flaw in it. What happens if for whatever reason the Phantom thinks it is outside the horizontal limits? Maybe a brief GPS loss, scrambled data, or a GPS error that tells the Phantom that it is really a hundred miles thataway. It will then make a beeline to get back to it's radius limit. And since the limits have priority, your remote can't regain control and RTH is what the Phantom is trying to do. A hundred miles thataway. If I am correct, then the only way to stop a runaway from this cause is to switch to Manual Mode where the GPS is truly offline and the Phantom won't try to RTH or return to the fence. Or disable the horizontal limits. (Is this even possible?) If this is a possible error, then maybe the firmware needs a change. The limit radius should not be a hard wall, but a zone. The horizontal limit zone should be no more than the Phantom could penetrate under normal circumstances plus a little tailwind, maybe 30 Meters. If the Phantom enters the zone then it should return to the limit as it does now. But even if you fly directly into the zone with a little tailwind and inertia, you will not be able to penetrate the zone because the Main Controller will redirect it back to the fence. If the Phantom thinks it is outside the limit zone, then it should flash a GPS warning and not try to return to the fence. Any thoughts?