I have now twice experienced a +/- 3 to 5 degree oscillation in the pitch axis in both Attitude Hold and GPS Hold in the NAZA-M mode since the latest update. This occurs when I am flying my P2V aggressively. The only way I have found to stop the forward and backward rocking is to land and restart the motors. I setup at my usual metal free zone and takeoff after compass calibration (I calibrate the Phantoms compass on EVERY flight), 20 green flashes, and then only one green flash remaining. I suspect an error in the firmware algorithms for controlling heavy payload flights might be the problem.