Well, actually more like a spiral than circles. COMPASS_AUTODEC is set to 1.
When changing COMPASS_AUTODEC to zero and setting COMPASS_DEC to -0.4 it seems to be much better, but still not perfect.
Another interesting symptom is that the drone seem to change its attitude in pulses, which looks as if a pilot is flying with swift pulls on the sticks. Its not a smooth motion.
Any suggestions as to what is going on here? Link to the log file here.
For some reason the date of the log file is also wrong… theis flight took place this morning.