I have almost everytime small issue during take off in stabilize mode @pixhawk and arducopter 3.3. When hexacopter is on the ground and I'm increasing throttle, drone starts to tilt to one side. According to log file, motors one the one side are running faster than the others (see picture). I did calibration of accelerometers and compass several times. ESCs, motor balancing, Auto Analysis is ok. I need to compensate this tilt by pitch/roll stick. Once when the copter is in the air, everything is fine. Maybe my starts are too slow... but still - I don't understand to this behavior. I'm going to try other modes (AltHold, Loiter) for take off.
Please check the log file: http://diy.ivosch.cz/2016-10-22_16-21-39.log