My Y6 seems to want to YAW to the right big time when I descend or if there is a gust of wind. I'm wondering if any one has some suggested PID values for a Y6 since I'm sure they have to be different than a stock DIYDrone quad. Other than that the Y6 is fairly stable, no wobbling or anything... just the YAW issue.
This happens if the mag is enabled or disabled, I actually don't see any difference if its enabled or not. I'm using the DIYDrone Full ArduPilot Mega kit and purchased theTriple Axis Magnetometer Rev 1.2 and soldered it onto the arduino with the pin headers as shown in the wiki.
I've only played with the stable damp value a little and it doesnt have that much effect.
I'm planning to build an Y6 to fly with ACM2. Have you solved the yaw problems? are you happy with the Y6/ACM2 combo?