Auto mode not more working, WP1 not more reachable

Everything works OK on Loiter, RTL and Stabilize, but when I switch to Auto the plane see the reaction but is not going on the direction of 1st WP. Trying to force (nudge) the plane to go in the direction of 1st WP is not possible, plane going on another direction.

Also, I have Default Altitude to 60 and all WP to 50. When I do loiter, it circles at 60 and when switch to Auto, the plane goes below 50 me and never rich the WP1.

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