I have a theory that may explain the behavior of the drone.
The latency between 2.4GHz RC and 5.8GHz WiFi is somewhere between 0.16s and 0.2s which is a lot when you control an aircraft. Normally it is no problem. But due to Dual band redundancy feature the drone switches to control via WiFi when the 2.4GHz connection is lost for a while. If it switches forth and back you will suffer from feel erratic flight behavior due to latency. And exactly this is happen.
View attachment 30473
From 20240412 16:40:19 on there are gaps in the 2.4GHz telemetry. Around 1min later you decide to switch off the GPS support and bring it down (red cursor). After that there are still fall-backs to WiFi which makes it hard to control the a/c, even harder when GPS is off.
Maybe there are interferences between RID and 2.4GHz RC control connection or a bad mouning place of RID module or ... I don't know.
Questions:
Is the RID module somehow connected to the drone? Power supply for example? If so a ferrite core at the wiring may help.
Do you have a 3-antenna ST16 or a 2-antenna RC? If 3-antenna RC how the 2 rod antennas are directed? Parallel or 90° to each other (should be 90°)?
Do you point the rod antennas to the drone (never do this)?
Remark: ST16 time changed 1 hour midflight because ST16 tokk time from GPS now.