I'm trying APM2 on HK 450pro heli. I just did the test and the result, pitch and roll are alright, it was stable. The problem is with my yaw/rudder. I need to push my rudder to most right to make sure heli stays and basically I had no yaw authority.
I'm attaching the parameter file and the log file. Hopefully I can get a hint on which parameter I need to modify to get a better yaw authority.