Unnusual oscillations with desired pitch in AUTO mode

ArduCopter Traditional Helicopter
1

Hello,

We are encountering pitch oscillations during a flight in Auto mode, between long spaced waypoints (more than 100m), that seem to be produced from ATT.DesPitch. Here’s a graph of the Log where it is more obvious:

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Here’s the flight log:

https://drive.google.com/file/d/1WrDSEgm-AtheESXjRHmwk60SRw_fVHum/view?usp=sharing

Would this be a poor tunning problem? If so, what parameters might be causing this issue?

Tagging you again @bnsgeyer! Thank you for your responses

2

Could it be related to poorly tunned PSC values? We are finding this sinusoidal oscillations on the desired yaw and target speed parameters as well:

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We are using Arducopter v.4.1.3 with a 25kg MTOW gas powered conventional helicopter.