I was out flying today and had a small issue, the batteries in my transmitter weren't as charged as I thought. Only a few minutes into my flight I had it warning me that the batteries were low. As I was in Alt Hold mode I throttled down to get the quad back on the ground as quick as I could. At this point the quad was about 50m up and about 75 away. Then the transmitter died! I started to panic, how was I going to get the quad back? As I was wearing my FPV goggles I noticed the quad moving... oh no, its only in Alt Hold so it could be being blown off course. Then it occurred to me, I have setup the transmitter failsafe, it isn't being blown away, it is returning! That led me to another issue, RTL will leave the quad hovering about 10m off the ground, how do I get it down without waiting for the batteries to die and for it to crash. I have connected my phone via a telemetry link, which gave me an option, using Ardupilot it has a button onscreen to activate Land mode. With some trepidation I pressed it, the quad gracefully lost height and gently landed on the grass.
Another important lesson learned, always check battery levels are at least greater than 50% in your transmitter and ensure that you have activated failsafe systems for your quad!