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I have read somewhere about a RTH issue when at a negative altitude, it seemed that if the safe height was set to 20m for example and you are at -21 that the craft ignored the - symbol and thought it was above safe AGL,
I DO NOT know if this was confirmed as a problem, and or if it was fixed in recent firmwares.
Just posting to make you aware that it might be a problem, I am not confirming that it is.
After many hours of flying in remote areas for the logging industry off the coast of British Columbia my recommendation is to adjust the return home altitude accordingly when flying below the home point altitude