Coax 360° Yaw behavior

I playing with a coax V3.6.7( and i have a strange behavior on yaw axis, it fly well (if a coax could fly well ) but after moment it start to turn left on yaw, if i let it done it make a 360° yaw and then i can stop it and i regain normal flight up to the next complete 360° yaw???..
when i look to the logs it seems that its the system that want to do that???
I put the logs of the flight with the strange behavior.

moreover as i use it in indoor flight in metallic environment, how i can disable mags in order to use only gyro (headlock)?
You will see in logs bad mags despite several mag calibrations.

Thanks for your help…

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