[anthropo]

Hello,

i have a problem with RTH : When i switch to it, the quad climbs up to 20 m, the translates to th point it has been armed. Till this point everything is normal.
BUT after, before landing, it makes like a crazy dance, oscillating more and more on roll and pitch axis like in the video. I am obliged to take control at this time, it never goes landing.

What can i do please ?

[Mateusz]

The "toilet bowl" symptom is very typical to bad magnetometer. Are you using external magnetometer ?

[DocHardinger]

If you want it to land after RTH you have to switch "System->Settings->FlightModeSettings->ReturnToBaseNextCommand" to "Land". Default is "Hold" so it will try to hold Home Position.

If i switch it do "Land" then it works quiet nice. But if i use "Hold" its oscilating over HomePos. Not like yours does but its shaking really strong over home position.
I think we have to adjust some PID´s but i dont know which ones. Cause Position Hold or VelocityRoam as flight mode works great. And i dont know which PID´s used for this hold... command in RTH.

Edit:
Okay for you it seems not the PID´s like Mateusz wrote...

[anthropo]

If i switch it do "Land" then it works quiet nice. But if i use "Hold" its oscilating over HomePos.

I have exactly the contrary. posHold is fine.

And I have "external Mag only"

[TheOtherCliff]

https://forum.librepilot.org/index.php?topic=382.msg17846#msg17846