Here's what your log shows:
- The Phantom was in P mode the entire time (GPS_ATTI = P mode)
- The mode did not switch to ATTI at anytime
- The GPS receiver was connected to sufficient satellites after takeoff
The only odd thing I see is the drifting you described above. All was well until you started yawing the Phantom. At that point, it started to slowly drift away. And, that drifting continued with no stick input after you stopped yawing.
@BudWalker, can you take a look at this one? Per the DatCon CSV output, here are the notable tick marks:
113773: Hovering in place with no stick input
180931: Starts to yaw (with stick input) and drift (without stick input)
187105: Phantom still drifting (without stick input)