I have been noticing a strange behaviour in the yaw. While hovering and no yaw stick input the quad stays within a 5 deg heading. As soon as I move the stick the smallest amount the the left the quad starts to rotate to the right (clockwise looking from the top). If I move the stick much more to the left eventually the rotation to the right stops and it starts to rotate back to the left. At first I thought this was only happening in alt hold mode but it seems to be any mode. It's like the small movement away from centre stick disengages heading hold and since the quad has a prop rotation bias towards a right turn torque that's where it normally wants to go.
I would have thought that in Stabilise mode the yaw input from the RC would instruct the code to move to a new heading and never leave heading hold. That's the behaviour I had with the heading hold gyro I had on my T-Rex 450 HH gyro.
Can someone confirm if the code does leave heading hold when the stick is moved from centre?