[rmcferon]

Quadcopter flies fine in Complimentary mode and in GPS mode when using Stabilized flight(Attitude, Attitude, Axis Lock, Manual).

When I use Velocity Roam or Position Hold with the same Attitude, Attitude, Axis Lock, Manual it does a constant 6 - 7 deg/sec Yaw to the right while Hovering. If I use Velocity Roam and I maneuver, it stays locked in Yaw. Even if all I'm doing is changing altitude. As soon as I start to hover it starts the Yaw to the right.

I am using an Aux Mag with my GPS and it was calibrated. When I look at the compass direction in the PFD it is stable when the quad is not moving. Mag stays Green at all times. GPS has 17 - 20 sats and DOP is <1.2 for all.

[Krecik]

@rmcferon, did you find a solution?

[rmcferon]

I forgot that I had posted this.

It turned out that my transmitter stick center position had changed value by an amount just above the deadband. Yaw still works in position mode, so it would rotate. When moving the sticks for maneuvering it didn't make enough difference to notice.