Whenever I perform a long, slow, constant yaw, then after a few seconds the yaw rate suddenly accelerates, requiring me to counter yaw to save it. The result is ugly flying. Below is a very short video clip I made demonstrating the issue. I hope somebody recognizes the problem and can provide some help. Thanks.
https://www.youtube.com/watch?v=WaGUlHytcQE
My yaw PIDs are at default values.
My transmitter does not have expo on the yaw channel.
I'm using quadcopter firmware 2.9.1b with an X frame.
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help?