MultiWii

I have done a dozen flights with afromini and taranis now and this works good. The taranis speaks out altitude and Vbatt nicely. Vario works but the constant beeping is somewhat disturbing. Above 200m height i start to feel unsafe. If i loose the plane out of sight it gets difficult to find it agai...

Does RTH need magnetometer to function properly? gonna try it with a mininaze32