What happens when compass is off by lets say 180 degrees. So north is south and south is north. If you engage RTH and flight controller tries to fly north... is there somesort of logic in the flight controller that solves this kind of situations. Obviously the flight controller knows that the drone isnt flying to north as it's locations is moving to south? What happens if your compass is giving a false reading? Does the flight controller still keep using that data and fly further away even when its GPS knows that it's not going to right direction. Is this one of the reasons why drones keep flying away? Could this be solved with some flight controller logic that would make the flight controller to stop following compass readings if the drone doesnt fly into the right direction based on its readings. A smart flight controller could fix it's heading based on gps data as it knows in which direction the drone is heading even without compass at all. So in a scenario where compass has gone mad, it would be possible to have logic in flight controller that could fly home voiding the compass reading.