Unexpected behaviour in Loiter Mode

hello everyone, yesterday I have faced some unexpected behaviour in Loiter mode. Drone failed to maintain stable position, It was going here and there without any triggering from pilot. It was totally out of control and not only it was going horizontally here and there , it could not maintain altitude also. I am sharing the log file for those flights. Please help me to get out of this.



Perhaps with an LOIT_ANG_MAX of 8° there is not enough authority to hold position. Also, update to latest Stable Arducopter.

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