So far I have not gotten much help from here but I will try again. Can anyone explain what its doing from the attached log? Looks like it attempted to hit WP 1 then got confused, half assed it to WP 2 (missed by a long shot) then just decided it wanted to head for the beach and ignore WP 3. I had it set up on a very small route to keep it in the field and it couldn't even do that. Eventually had to switch back to stabilize via radio and bring it back as it was flying off into the woods the complete opposite direction it was supposed to.
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The compass is probably the source of your problems by your description.
i have had a couple of crashes and fly aways which I have tracked back to the compass going out of whack.
GPS is holding a 3D fix the entire time with 3 satellites. At one point the nose is pointing towards WP 1 and its flying sideways, like it cant figure out how to get there.
Usually this happens if your gps lost its 3D fix and/or your compass did not work properly (interferences for ex).
Do you notice in your log if number of sats went to zero?