When in alt-hold or loiter, the craft is jumpy about the vertical axis. If switched to guided, the craft is rock solid. You can see this in the attached log analysis looking at one of the motor outputs, it has variability when in loiter and calms down when in guided.
I was under the impression guided mode was using the same PID values as loiter, so I'm surprised to see the difference. You'll also note that throttle input is plotted and there is no change in throttle that would cause this (since guided mode does not use controller throttle).
Running 3.2.1
any ideas?
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