Nah ... let's make this a bit more scientific now when logs are included ? ... let's see if we can find anything going outside the specs.
This can be good to know looking at the graphs further below ... (rotation arrows indicate positive direction)
Then so we know the circumstances ... the attached log is from a flight with a navHealth between 0-2, meaning no GPS lock, just VPS holding the position.
And the spec as quoted earlier:
Vertical: ±0.1 m (with Vision Positioning), ±0.5 m (with GPS Positioning)
Horizontal: ±0.3 m (with Vision Positioning), ±1.5 m (with GPS Positioning)
First looking into the height accuracy from a spot in the log covering roughly the first minute ... (click on the chart to make it larger)
Black = Z speed (ascend/descend)
Blue = Throttle stick input (max/min, 10 000/-10 000)
Yellow = VPS height in meters
Conclusion: No uncommanded height change above spec occur, all ascends & descends are commanded by throttle inputs.
Then something little to check the OP's info about flying in a circle not just pivoting when yawing ... and position accuracy in the horizontal plane (X & Y axis)
Blue = Yaw angle ( note 180/-180 degree axis)
Light blue = Rudder stick input (max/min, 10 000/-10 000)
Green = Aileron stick input (max/min, 10 000/-10 000)
Black = Elevator stick input (max/min, 10 000/-10 000)
Purple = X speed (forward/backward)
Yellow = Y speed (right/left)
As seen during the commanded rudder input mainly no X or Y speed is recorded ... just a very short blip with 0,1m/s right movement were the marker are in the chart but all within spec & a nice pivoting yaw movement.
Then a little later into the flight ... now with navHealth 2, but still no reliable GPS positioning just VPS hold.
Again initiated yawing by means of rudder command then in the middle only elevator inputs which makes the X & Y speeds increase a bit ... then again only yawing by means of rudder command.
Conclusion: No uncommanded horizontal movement above spec occur, all position changes are commanded by elevator or aileron inputs.