So I've got TCA mostly working as intended (I think), it can make my craft hover fine, navigate to targets, follow cruise control, and balance my engines automatically. The only problem I have is using the altitude control or terrain following causes it to scream 'Obstacle on Course' and continually gain altitude until I turn the system off. I can't seem to find any way to avoid this other than to sit completely still with the VTOL, any attempt at moving causes it to detect a collision is imminent and try to avoid it.