Now try RTL mode. The aircraft should come back to you. If it's flying away, increase 7-1 ("#define NAV_ROLL_P .6") by 25%. If it's still not responding enough, increase 7-2 ("#define NAV_ROLL_I .0"). If, on the other hand, the aircraft comes back to you but weaves and snakes, decrease 7-1. If that's not enough, increase 4-4 ("#define XTRACK_GAIN 00").
Ждём Камрада Пучкова со спецпереводом рукоблудия