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Hello again all, any help here would be much apreciated.

I am flying a droidworx octo HL and flown over 300 perfect flights with Arducopter since .42, now running .49

I've got GPS and SONAR, alt hold with sonar works great, but GPS is acting funky, our rig if purpose built for aerial photo/video (seen recent vid here http://vimeo.com/30957186) and been flying solid for a long time now, but never really messed with GPS, I've only recently put it on to play around and possibly have RTL as a safety feature.

When flying around for a while, then hovering and switching to loiter, it imediatly want to head left, and then does a massive ass circle shape, like 50-70m, this is not loitering, lol. Everytime i enable loiter it wants to do the same thing, at first i thought is was circle mode, but have checked and re-checked the modes, it's loiter, the logs also read as loiter in google earth.

The strage thing is that the logs show the exact spots where i am flying, very acurately in fact, but I don't get why it does not want to hold the spot, but instead fly off ???

Here what it does, before I quickly switch back to stab as it just carries on

the white dots are where i enable loiter.

My settings at loiter P 2 (have tried 1, and less, does the same thing)

Nav P all at defualt, can anyone give me some insight into this ? Is there a specific way the GPS must sit in relation to the APM board, direction etc ? I've changed it as well, same thing.

Any ideas ???