Ok guys i finally did a test today . a good test. and i experience the same issue, and im posting the logs hopefully you guys will be able to ping point the issue.
i was flying fine in alt-hold and also in stable mode. but as soon i put loiter starts flying away.
so any ideas would be super helpsfull guys thanks. 
any ideas guys im going in circles does not seem to find the issue. i even try to raise the antenna.