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

ArduCopter Copter 4.0
1

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

image_2021_06_01T05_51_23_888Z
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Log file address：https://drive.google.com/file/d/1sovPNSHDuaAKimXzngOehNbSzQiVY2l3/view?usp=sharing

2

did you touch the yaw stick on the RC transmitter?

3

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