Since I discovered the above and it might help others, I thought it deserves its own thread. After my near flyaway, I examined the logs and my latest conclusion is that: Switching to Atti, with Multiple Flight mode disabled, resets the p3p from erroneous P-OPTI mode! Switching to Atti should not be doing anything, but I am glad it did. The logs reveal that I had Multiple Flight mode disabled. My near flyaway was a result of the p3p switching to P-OPTI, for a reason that is still unclear to me, while it was at a height of 33 meters. However, as it turns out, my physical switching it to Atti, was the trigger that reset it to P-GPS and allowed me to regain (partial) control and land it back safely. I notified dji, as can be seen here. Let's hope we can get some answers.