I'm having an issue where the copter frequently yaws unexpectedly. I believe the copter is accurately controlling it's yaw, so the yaw movement is being generated somewhere within the control system. I've checked that my RC Rudder input is centered, and I've checked (though it seems like this is still the most likely problem) that my compass orientation is correct.
Can anyone take a look at my log files and figure out what's going on? I've attached log files of two flights where this issue occurred.
Here's an image showing centered RC Rudder input, but both desired yaw and actual yaw moving steadily (towards the end of the graph):
The copter is built so that the Pixhawk is right-side-up but facing the back of the copter. The GPS/Mag is also right-side-up but facing the back of the copter. I'm running the 3.3.4 beta, but I've had the same issue with 3.3.3.