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Today I flew 10 km away and back totally in Auto Mode.

Until 2200 meters to home in return, everything was perfect.

As you see in the video (after 0:42), while nearing home, plane suddenly rolls to right then left then right again and levels, but from then on, navigates to home but snakes very much. No snake or anything occured while flying away.

Why is this happened?

Is it a compass issue or sensors or servos.. I don't know.

I use standard factory default parameters of APM on my flying wing.

I power APM from two source. One is for servo side, one is for board itself. Jumper is open.

I use power filter suggested in APM 2.0 board description page.

Please help.

I don't use telemetry, I don't have tlog rlog files.

Camera shake is about camera mount, it's broken.

Best Regards.

2013-04-23 13-06 13.kmz

2013-04-23 13-06 13.log

2013-04-23 13-06 13.log.gpx