"Have you done the "compassmot" calibration / test?My Y6 had bad yaw drift until i ran compassmot and saw high interference.  I twisted the wires to my compass and re-ran with much better % and the yaw drift is now gone...."

"Continued to investigate this and found the following:
decreasing Rate Yaw P solved the dip during yaw.  Quad responds a touch more slowly, but no longer loses stability during hard yaw.  

however, I'm still having an overall stability issue.  I'll…"

"Odd Behaviour during my auto-tune attempt:Once i convinced my APM that we should be able to start Autotune (needed to re-cal my accelerometer)  we gave it a shot today.
First off, let me state that the quad flies acceptably in stabilize mode with…"