The story. I always had yaw not being stable, not even in hover. It was bouncing left and right even with no input. Also different YAW_OPTIONS in APM_config.h yeld to bad results. It was either too strong, or too slow. It always had really big overshooting like if PID was tto high. I decreased P till I almost had no control, but the left-right problem was still there. Something I've noticed is th…