There was no take off waypoint, just 4 basic waypoints @ 75m agl and a repeat waypoint of 20 at the end. There is a log available (possibly 3) but will have to get permission before I can release it. Tuesday will be the earliest I will have access to it (it’s a bank holiday here).
It’s a problem with the navigator logic that changes the altitude linearly between waypoints. It’s only an issue if you first switch to loiter and then mission.
As a temporary work around either set param MIS_ALTMODE 0 or avoid transitioning directly from loiter to mission. Stab -> mission should be fine. The MIS_ALTMODE change may be more noticeable as your climb/descent between waypoints will now be based on the full TECS limits.