Very strange behavior today. I set up a flight plan the other day and changed my RTH switch position to AUTO. Went out today to test some minor PID adjustment I made. I started out in Stabilize and everything appeared to go fine. I switched to Loiter (2nd switch position - confirmed with MP) and it started out okay but within a minute or two started acting very strange. Would not respond to my inputs. Switched back to Stabilize and ok again. Tried a few times with same results. Took a look at the data log and it appears that the mode kept popping in and out of LOITER then AUTO. That would explain why the quad behavior, but not why it was happening. Without input, is there any way the modes can change on their own? I do have gremlins around here, but it was their off day - I think. I have uploaded the TLog. Of course, maybe I just have corrupted log with something else happening?
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It could be drift in your RC transmitter. Go into MP and look at Flight Modes. You can see the PWM levels assigned to each mode and the current PWM level being output by you RC transmitter. If you're near the edges of one of the assigned ranges it's possible your transmitter's PWM output could drift a bit and the flight mode thus jump from one to the other. Ideally you want to have the PWM output more to the center of the assigned range so this sort of stuff doesn't happen. Are your Loiter and Auto modes adjacent in terms of their PWM levels?