I tested the Return to Home function of the Multiwii board using the default parameters. I didn't change the P, I or D of the gyros, acc, mag or any other sensor.
As you can see, the flight is not perfect since it's not tuned and it was windy but the tricopter returns to the inital position indeed. Usually RTH is activated when the signal from the TX is lost (multirotor out of control), it's a great funcionality.
Flight controller used: Crius AIO Pro
GPS: CN-06 v2
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