MPNG Guided mode woes

[hamsterrorist]

I';ve (after much tinkering) to get MPNG 3.0.1r4 (via flashtool) loaded, calibrated and working near 100% on a 470 sized X frame.

Loiter and RTL are superb, rock-solid and trustworthy. Guided though is a bit weird.

As soon as i get a clean Loiter and switch to Guided, the quad does a huge buck, turns CCW 90degrees and loses some altitude - then sits solid.  I was under the impression that Guided was simply Loiter but waiting for commands (i have my laptop connected via a 3DR telemetry kit).

After that, flying to waypoints works nicely,  although if I switch back to Loiter and then back to Guided, it floes to the last WP that I has set in guided mode - i';m assuming that is normal, but to clear that "memory" do I need to select Clear Track from the Actions menu?

Also, when gaining altitude when responding to a Guided command, it "pulses" as it gains altitude - not a smooth rise like it does when doing RTL.

The initial buck/turn and pulsing is weird...typical of 3.01.r4 or could there be something else at play here?