Strange behavior in Acro mode

I have a small boat that I am fooling around with in auto modes and to do some missions.
recently I started having strange turning issues, see screenshot below:

You can see how the boat is going in all different directions and turning in circles instead of following the mission.

I have reflashed my autopilot (Pixhawk Mini) and all my bench checks looks good (manual mode) as soon as I switch to Acro mode to check autopilot functionality the rudder servo starts moving without giving any input or commands.

Maybe I am being stupid, but I cant find the reason for this?

Bench log file:

It doesn’t look like you have calibrated the compass. Also there is something odd with your RC1 Trim at 1800. Was radio calibration performed?

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