Which es the more tested version for navio2 for hexacopter?

I would like to know which is the most stable version of Arducopter for navio2 (hexa). I tried several versions even 3.4.rc1 (strange behavior with Loiter).
A recurring problem is that if flight and disarmed engines almost always have to disconnect the battery and reconnect it.

If you post the logs, pictures and more detailed description we will be able to troubleshoot it.

Currently 3.4rc1 is recommended.

16-06-02_20-28-15.bin (1.5 MB)

Here is the log with ArduCopter 3.4.rc1 with strange error. Loiter it does not work well.