Pumpkin crash!

[Aerodrone1]

Update: pumpkin repaired and all seems well. The point was raised that during the RTH leg of a waypoint mission the aircraft will begin a descent and so the last waypoint should be near the home point. So...I tested that theory by setting up a waypoint mission that keep the aircraft within sight, with the final waypoint a few hundred feet from me. It completed the mission and began RTH. I carefully monitored the altitude and it remained at the 200' altitude all the way back, so I still don't get why it crashed into the tree. Next time out I'll bring it down at the last waypoint and see if it goes back to the assigned RTH altitude.