S500 Quadcopter APM HKPilot 2.7 Locked in with Loiter Altitude Hold and RTL

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After testing with the KK2.1 I have installed the APM 2.7 from Hobbyking. Working very nicely considering the windy conditions. Using my Basic Turnigy 9x with the 4 flight modes as a test of both the Quadcopter and the Controller
S500 Quadcopter Frame
HKPilot 2.7 (APM Arducopter 3.2)
Turnigy NEO 6M GPS
AFRO 30A ESC
Turnigy 1400kV 2826 Motors
Turnigy 3s 3000kV Lipo
Flight time approx 8 mins
PID settings at the end of the Video
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