Yes, Overall I have been successful in getting the RTH to work. I did get the stabilisation to work at all times, and controlled the gain via a knob on my Tx. That helped me switch Off the stabilisation ( Gain:0 ) when needed.
There are 2 things I am still having problems with :
1. Altitude reporting goes real wrong in some cases. See video above, where reported altitude goes to negative ! This could be a potential problem for RH, since the manual states that RTH will NOT be engaged below 60 meters. Now if Altitude reports less, even though the plane is still high up, RTH will not engage, and thus not work at all ?
2. With the stabalisation ON, I seem to have the plane in a slight nose down attitutde, and thus loose altitude. Perhaps this may be because the Guardian may not be mounted horizontally for level flight ?
3. I still need to check on the altitude Hold, while in RTH. I will be testing that, but would be important to know on the #1 first.