ROI targeting in LOITER_TURNS

Hi all,

I made a Structure scan: DO_SET_ROI then LOITER TURNS all good and set and works BUT the targeting is off by a 0-15deg yaw direction. Center of the circle is correct,

Can anybody help ID what I screwed up? 2016-09-26 17-46-57.tlog (1.7 MB)

Thanks in advance!

The LOITER makes a good circle around the center but the ROI targeting is off from the first second.
I have re-calibrated the compasses and the the motor magnetic interference with the Props on, so I had about 30% throttle. Additionally the copter repositions itself to the correct targeting of the ROI, but looses it as soon as it starts the circle.