First autonomous flight

I have a Hobbyking SkyEye with an APM 2.0 with latest firmware. I set the levels and it flies well on stabilize mode. I then switched to loiter and after flying a couple of figure 8s it settled down to a regular loiter but it seemed to be a square with rounded corners.

Is there a configuration file for the SkyEye.

If not, what’s the easiest way to tune it? Does the Autotune work well?

I will try programmed route soon…