Lost Connection, RTH Near Crash, Obstacle Sensors Worked, February 23, 2021

Mavic 2 Pro Zoom on autopilot returning home after an RTH. The RC connection is lost and the drone is on its own. It approaches the 590ft high building at 400ft altitude, the front obstacle sensors go to work. Within 50 feet from the building, it stops ... assessing the situation, it gets a lot closer to the building, then climbs to 704ft to clear first the building and then 100ft flagpole to return safely home!