RTL more like a crazy 8 Please help

I have been tuning this Penguin airframe for quite some time and before 2.76 firmware I was having great success. Ever since I upgraded to many versions of firmware I cannot get RTL to function properly. Now I just tried with the latest 3.0.3 and still RTL is doing crazy things… sort of wanders around the home but really not correct. Can anyone suggest something?

log file attached…

Have you tuned your aircraft as instructed in the manual?