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I was test flying yesterday trying to do some basic waypoint navigation.  It seems that my AP did a few resets. 

If you look at the telemetry data, the value of ALH goes from 50 to 1312 after the reset. Of course, my Easystar then tries to climb and I had to bring it back.

Is there a fix for this?

PS> I've attached the flight log

ARDUlog672010_1944.txt