It seems that CH4 dead zone (YAW) is very large (1000) compared to other channels.
The problem is that this value is not substracted from the yaw output.
So when you push the Yaw stick, you need to push it a lot to get a Yaw action, and this action is big, because the first output value is 1000.
I think that Dead zone value should be substracted from Channel output, so that we don't get this brutal Yaw output when pushing the stick.
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