Strange Behaviour after Flip Function

Hi all guys, I have a quadcopter with onboard Arducopter 3.1.5.
I have used auto tune to find pid’s parameters and it is flying almost good.
Some days ago I discovered the Flip function, so I went to give it a try and it works, but after every flip the copter start to drift and it’s very hard to stop it from correcting an “virtual” position error, yes because I have to push the stick of the radio until the end of its track (sorry for my bad English).

When it stops, I release the sticks and it still try to correct an inexistent error, yes because it turns a bit on one of the two side of the roll and never stops if I don’t try to compensate.

I see that every video on YouTube showing a flip with arducopter, the copter don’t do that…

I have to say that I’m flying in stabilize mode, not acro.

There is something I can do? Thanks to all.

Please provide tlogs and/or data flash logs to help troubleshoot your issue.