Yaw causes massive wobble (APM 3.2.1)

I tried setting up my copter today for camera flying.
1.73 kg, 3S, MS2216-900kv motors, 11x4.5 HQprops, Arducopter 3.2.1.

Autotune went fine. Flying is fine on roll and pitch. As soon as I yaw, even if just 10°, the entire copter destabilizes and wi

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Autotune "ERR: Autotune-2" Bad gains

Hi everyone.

I have 2 copters, a small hex and a big quad. Both are running 3.2.1.

The small hex starts autotune instantly, despite having pretty bad vibrations, no issues there, and this tells me I am a) doing it right and b) my transmitter is set up

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