hexacopter oscillation in yaw near crash experince arducopter 3.6.6

hello guys i am working on hexacopter i am facing some issue when i do the yaw i am using pixhawk cube 2.1 problem is that during yaw my hexacopter oscillates alot and becomes out of control luckily i was able to save it from crashing i have attached my log file.Your help will be much appreciated

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