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Wobbly flight in auto mode

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@Northlander wrote:

Hello.
Today I was flying a short mission. After takeoff everything was right. After after few way points it started to wobble. It was close to crash. Mechanically everything looks good. I am using Pixhawk 2 (cube) with Here GNSS.
Could somebody take a look what was wrong?
The log: https://files.fm/u/wnbjtmbh
Thanh you in advance.

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