My y6B seems to be surging or dropping momentarily and I am now seeing the following PM Fail Message
Size (kb) 2035.5966796875
No of lines 27255
Duration 0:01:54
Vehicletype ArduCopter
Firmware Version V3.2.1
Firmware Hash 36b405fb
Hardware Type 
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD - 
Test: Brownout = GOOD - 
Test: Compass = GOOD - mag_field interference within limits (6.22%)

Test: Dupe Log Data = GOOD - 
Test: Empty = GOOD - 
Test: Event/Failsafe = GOOD - 
Test: GPS = GOOD - 
Test: IMU Mismatch = GOOD - (Mismatch: 0.12, WARN: 0.75, FAIL: 1.50)
Test: Parameters = GOOD - 
Test: PM = FAIL - 12 slow loop lines found, max 12.48% on line 520
Test: Pitch/Roll = GOOD - 
Test: Thrust = GOOD - 
Test: VCC = GOOD -

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