Do you have the H with the internal or external antenna? What version of the firmware is in this new "H"? I have tested the no landing with legs up (in Angle mode with RealSense off) and it works fine. It would not let me go below about 3.5 feet. I recommend that you do an Accelerometer calibration. In fact, you should calibrate Compass, Accelerometer and Gimbal. Make sure that your Accelerometer and Gimbal calibrations are on a level surface.