Big OmniX boat spins in circles in auto mode

In manual mode my OmniX boat works perfectly. However when icreate way points and put it in Auto mode it spins in circles. Also, in Loiter mode the boats constantly yaws left and right about 30 degrees but maintains it GPS position. The boat is 17 feet long and 8 feet wide. The Pixhawk Cube Black is mounted on the stern of the boat. The boat weights about 2500lb. It used 4 Newport trolling motors each with 55lb of thrust. I am using 320a/640a Bidirectional Brush ESC’s. Each ESC is connected to a 100amp AC/DC converter. Each converter is connected to a 2800 watt generator.
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