So this is using Freedom and testing path navigation. The path plan was to essentially drive around a box and it did relatively well. The 270 degree turn at waypoint 1 was consistently repeated as well as the 360 on the leg from waypoint 1 to waypoint 2. There appears to be some glitchy logic in the stabilization module as this was reproducible in just normal attitude control mode.
I was using the OP GPS and it had _severe_ problems with drift this close to the ground. Like 10 meters. So I was having to reset it after most runs. It seemed that maybe losing a satellite would shift the position.