First "Dronie" needs smoothing

I tried my first fully automated dronie and i think it need some smoothing. about half way down it jumped and recovered but it was not smooth. low wind but it looked always turned right a bit until the end

took me a minute to see the “confirm” swipes on my phone :slight_smile:

APM 2.6 3.2.1 code
External MAG and V6 compass on mast (calibrated and auto dec)
no Autotune yet. default PIDS
TBS Disco clone frame
APC 10x4.7 props
A2217-9 motors
GoPro not stablized

Any ideas? do i need to upload more info?