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
youtube.com/watch?v=LX6btL5EUO4
took me a minute to see the “confirm” swipes on my phone 
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