Not sure if this the right thread but my experiences match what is being discussed here. Lesson one learned. Cells close to 40 percent left discharge quick! Started a flight with 42 percent indicated left. Took off an climbed to 100 feet and full forward. I1 got 200 feet out and hit 30 percent RTH level, bird came home no problem other than I forgot to set Failsafe altitude. She came in a direct line to home point.
Second lesson learned: Have a plan B. On a flight to test return to home I entered a really high 400 ft fail safe. After doing a couple of dynamic RC home point tests I had about 20 percent flight battery left on a new 4500 pack. I was told to fly the first (new) batteries down to under 10 percent so the pack can calibrate itself. I moved the aircraft away from where I landed to the other side of a flight line in case I had troubIe. I'm too new to trust tight quarter. I proceeded to fly and hover to drain the battery quickly. It was doing fine when it imitated a RTH maneuver for low battery.
First thing it did was start climbing to the failsafe 400 ft. Then it quickly hit 10% battery and started to land heading to my old home point behind a fence. A number of battery warnings came up as the aircraft headed for the fence. I couldn't cancel them fast enough as panic was creeping in. I manually fought the auto land sequence and couldn't get the gear to drop after cycling the switch on the RC. I managed to stop the flight from hitting the fence, but without the gear down I had to land without them. I killed the motors (both stick down and in) as the camera touched the grass. As it spun down the props hit the grass and flipped the aircraft. It seemed they wanted to spin again so I did the kill again. (Perhaps I was restarting them.) any rate they stopped and I walked out to expecting to find something busted being upside down.
So while I moved the craft to a safe area, I forgot the high failsafe. Battery really drops fast while climbing. A whole host of things could of gone wrong but I remembered first rule of flying troubles...keep flying the plane. Had I stopped to cancel and swipe all the warnings, I would have hit the fence or worse. No damage for this lesson other than a few extra blood pressure points. Whew!