Your bead is aimed too much on the upper piece if we are talking about the lap in the center not the fugly weld on the right side. I still don't know your thickness of material, so I can't make suggestions on settings. A maxed out 180 amp capable unit should do 1/4", so if this is around 3/16" or so, you may be a tad hot, but still doable. You might also need a bit less wire. It's tough to tell with out some reference to work with on size. What ever your top piece thickness is, that's what you are aiming for on your base leg.
Consistency looks decent for such a short weld, but you were a bit fast at the start. Top of the weld on the left looks consistent, but the bottom part below the tie in has issues. Weld across the top also looks like it needs work from what little I can see.
Assuming the settings are correct, you don't need any motion. However by doing so it often makes it much easier to control the puddle as you don't have to watch both sides at once. With this I'd aim a bit farther out on the lower piece than you are doing. I'd then use a C or Z shape motion to carry and wash the puddle up against the vertical piece and watch the top edge. As soon as I see the puddle reach that edge and possibly start to melt it, I'm swinging back down onto the base material again and watching it fill before repeating the cycle. The bottom piece usually takes care of itself, so I'm usually mostly concerned with the upper edge. You can do circles as well, but since I push solid wire mig and gas, the final part of the puddle is behind the arc and harder to see for me. I can do it no problem, but it requires a lot more concentration for me to do so, and honestly why bother if I don't have to?
Out of position welds I almost always use a motion. That's because I'm usually watching the edges of the puddle fill and it's easier to watch one side at a time vs trying to get my travel speed, heat and wire perfect. I have more control with a motion.
If you have examples of your undercut, post them up with settings. Same goes with your out of position welds. With those we can make some suggestions on what to do and how to correct your issues.