Changing to position mode from mission Mode - Pitch Angle went way high!

Would like to know if it is OK while flying in mission mode, i slightly touched the joystick to bring the quadcopter back by RTL. However on log analysis, i noted that the pitch angle went way too high while the drone switched from Mission to position mode.

  1. Is this acceptable or do we need to adjust the jerk limit as i see that these are fully auto
    settings in PX4 parameter menu.
  2. is there any other pilot operation available to stop the mission mid way for an RTL
  3. What happens when we press the RTL button in mission mode.

Log review