Speedybee Bee35 FPV Cinematic Drone Zone Park Tour Gopro 11 Mini Peaceful Flight until Crash at End

Nice relaxing flight until my goggle batteries died as I was coming in for a landing. Got them off just in time to see that I better disarm before I got smacked by the drone. She took a good dive into the ground, but no damage. Again, I could not get autonomous modes working in INAV 7.0. In fact, with what appears to be the best calibration of the compass yet, the arrow for RTH pointed 180 degrees the wrong way, which probably also explains the unstable behavior when trying altitude and position hold. Went to Betaflight 4.4.3 and am loving the flight characteristics. Tested RTH and it worked well enough- I took back control when it started decent very close to the takeoff spot. I just don&seem to have luck with INAV, and have had very good luck with accurate enough RTH on every quad I have set up and tested with Betaflight. I really would like to get INAV right one day, and may try again at some point. Speedybee F7 V2 Stack, HOBBY King 2004 1750KV Motor, 1300 6S battery, DJI Caddx Vista w/ Nebula Pro. GoPro 11 Mini, 5k 4:3, Superview, 30 fps ND16, stabilized using Gyroflow 1.5.3, iso 100, white balance 5500k, Flat color, 0 EV, 10 bit high rate, 180 degree shutter Davinci Resolve 18.6.2.2