GPS problems - hardware or software ?

I had some unexpected "let's fly to Timbuktu" events with 3.01 so I upgraded to 3.1rc2 to see whether GPS glitch prevention would make a difference

Did all the calibrations and compassmot, all results looking good.

Having tested all modes (all fine) I

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AltHold hectic motors - looking for advice

Installed APM 2.6 on my quad, a fairly standard F450 setup except for 30A SimonK ESCs. It behaves very well and smooth in stabilize mode. However, as soon as I go to AltHold mode the motors start erratic revving, the quad generally rises around 1 m/s

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