Try the Universal AutoPilot (by Artlav). Or like Kyle said, go manual. With UAP, I keep an eye on the AlignPlanes MFD, and use the numpad 1 and 3 key to nudge the rocket in the direction I need to minimize the Rinc.
Can you post a link to it? Yesterday I did a dual Pollux-Castor/Falcon 9 launch and switched back to find the Falcon 9 upper stage spinning end over end. Before that it once flew round and round in circles, and another time it insisted on going up to an altitude of over 2000km.