Hi Jonas, I’m attempting the same sort of project - there is some discussion here: BuoyBots - self position holding buoys for RC sail boat racing. I’m very new to this, so there are no doubt others who are far more qualified to help. But if you get no other offers, I’ll happily have a look at your log. There is very extensive detail there and the Mission Planner investigative tools aren’t too bad. I’ve learnt quite a lot from my first analysis. Good luck.
Trevor