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Don't Panic!!

The H will stay at that altitude as long as it's over the RTH altitude you set. Once it's overhead it will start to descend.
 
Upon switching to RTH: If I am flying at 350 and my RTH is set to 150 in the ST16, will the H come back towards me in a angle towards 150, or will it lower to 150 first, then come back to me while holding 150.

Depends if you have Real Sense or not (and if you have it switched on or not).
See manual.
 
I have been in some what the same situation with telementry gone, but having video. I tend to always listen to my motocross roots of 'if in doubt gas it' which is hit the throttle to get height then RTH. Both times the video link suddenly responded and I could see the H video pointed in my direction and then pick up the H as it got close. I also flip on the Realsense OBS at that point. It is training and trust. The H has not failed so far.
 
Depends if you have Real Sense or not (and if you have it switched on or not).
See manual.
But the "new" manual (TYPHOON H USER MANUAL RS V1.2_ENGLISH.pdf) is partially wrong here. The YTH with RS "on" does not descend to RTH altitude, but it does climb...
 

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