Great for flying. Not so good for GPS.
I had already tested RTH manually on the previous flight, but I had done so in stabilised/atti mode. Turns out the results are quite different in acro - return to home becomes return to ground.
Somehow all that broke were 4 rubber bobbins. The twitching ESCs went into some sort of failsafe mode themselves after the crash and stopped twitching, one by one, so they and the motors were all fine.
We managed to find it by tracking the video signal (at first very faint, but enough to see the OSD coordinates as we got closer, and then the image itself), and by using the discovery beeper of course.
Custom-built 400 size G10 frame
Hobbyking F30A Simonk ESCs
Tiger 2209 1100kv motors
RCTimer CF 8045 props
Turnigy nano-tech 4000mah 3S battery
GoPro Hero3 Black
Layerlens with polarising filter
Immersion RC 5.8ghz TX
Cloverleaf TX antenna
Patch RX antenna
PZ0420H FPV Camera
Spektrum DX8 / RX