Abnormal flight, the yaw of the copter changed during the automatic mission by itself

In the automatic task, there is no yaw change command and manual control, but the Copter changed the yaw itself.

Log file address:https://drive.google.com/file/d/1sovPNSHDuaAKimXzngOehNbSzQiVY2l3/view?usp=sharing

did you touch the yaw stick on the RC transmitter?

You can see on the screenshot that the blue line, RCIN4 is untouched, thats yaw.

Please check WP_YAW_BEHAVIOR parameter in here and set it accordingly. Make sure there is no Poi or Roi in your mission

Can you also share the mission file? I will check it out later when I have time