Im using a Mavic 2 pro and had several cases that mid mission the mission pauses and the drone RTH for no apparent reason. Im using apple iphone 7. In each case there was plenty of charge left in the battery (~50%). I got round the problem by pausing the mission then resuming. But all this uses precious time and battery power. What is going wrong?
The behavior you are describing has not been reported to us so far. I would suggest you go through all the basic checks and troubleshooting steps as it will solve most of the issues that can be encountered if properly followed.