Plane: vehicle loses control in AUTO VTOL loiter commands

[expntly]

Issue details

This is in AUTO. Here's the mission

In SITL, the moment the vehicle switches to WP5 (LOITER_TO_ALT 10m), it goes from very stable to losing its mind as can be seen here:

I have Q_GUIDED_MODE=1, and Q_ENABLE=2.

Sometimes it works and just climbs back up, but most of the time it acts up as described above.

Version

AP385

Platform

[ ] All [ ] AntennaTracker [ ] Copter [X] Plane [ ] Rover [ ] Submarine

Airframe type

Quadplane X4 (in SITL)

Hardware type

N/A -- SITL

Logs

DF log from SITL (5MB) : 00000012.BIN.zip

[IamPete1]

Sorry we never got to this, feel free to re-open if the issue remains on 4.1.