We have a m100 that we us for hazing birds at an airport and we have experienced a loss of control numerous times, where the m100 begins to circle, and continues in ever increasing circles. Almost always close to the ground during either on takeoff or landing. This only happen in the P-Mode. The circling can be stopped by switching from P-Mode to A-Mode and gaining altitude, before returning/switching to P-Mode. Here is a sample from the FLY.log.txt. and the a picture of the circles from the .kml file 83.722 : 4076 [L-HOME]Update. lati: 1.2274693 longti:-2.6114006 alti: 53.68 84.967 : 4139 [L-FMU/LED]action changed. set home0) 85.678 : 4175 [L-FLYMODE][Ctrl<6>] REQ_APP_WM610 AUTO_TAKEOFF_HOLD ctrl_auto_takeoff 86.452 : 4214 [L-FMU/LED]action changed. Normal Flash(0) 86.917 : 4237 [L-FMU/FSM]state changed. cur: in air 86.922 : 4238 [FDI][IMU] set imu switch level = 8 88.942 : 4340 [L-FLYMODE][Ctrl<1>] REQ_RC_NORMAL ATTI_HOLD ctrl_gps_atti 130.724 : 6454 [L-NS][AHRS] yaw aligned 1 137.461 : 6795 [L-GPS](0)Lost. Reason:gps yaw err large 137.658 : 6805 [L-GPS](0)Lost. Reason:gps disable 158.608 : 7865 [L-GPS](0)Lost. Reason:compass yaw err large 159.202 : 7895 [L-GPS](0)Lost. Reason:gps disable 180.746 : 8985 [L-GPS](0)Lost. Reason:compass yaw err large 180.943 : 8995 [L-GPS](0)Lost. Reason:gps disable 192.802 : 9595 [L-GPS](0)Lost. Reason:compass yaw err large 193.197 : 9615 [L-GPS](0)Lost. Reason:gps disable 193.790 : 9645 [L-GPS](0)Lost. Reason:gps disable
194.581 : 9685 [L-GPS](0)Lost. Reason:gps yaw err large
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