Turlough's leaving comes as we learn more about his history. We discover that he had been exiled to Earth on the grounds that he was a political prisoner. But, through this story, where he encounters other people from his home planet of Trion, he learns that he has been granted a pardon, and that he is allowed to return home. It's one of the quieter companion departures we've had (and can easily be overlooked after the heart-wrenching departure of Tegan in the previous story and the departure of another character in the next story), but is a little sad nonetheless, not least because Turlough isn't leaving because he wants to, but instead out of some feeling of duty. It's a shame to lose the character, as he's actually been rather good to have on the TARDIS, and has been consistently written as well, something that you can't say for all those who have travelled in time and space.
Kamelion's departure, on the other hand, is altogether different. After spending almost the entire story under the control of the Master, he lies on the floor and begs to be killed by the Doctor. The Doctor then picks up the Tissue Compression Eliminator and shoots him, killing this weird robotic companion. It's a moment that's actually rather shocking, not least because it actually happened. Whilst Kamelion may have been a bit of a mistake, and he never really appeared much beyond a few scenes, he was still someone who travelled aboard the TARDIS, and still someone who worked to help the Doctor. To see the Doctor pick up a gun and kill this creature is shocking, and completely out of character for the Doctor, in my opinion.
Still, the new companion, Peri, promises to be a breath of fresh air. She's the first companion in a while to actually want to travel aboard the TARDIS, and she's filled with youthful energy and excitement. How long she keeps that view, however, will be found out over the course of the next couple of stories.
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