I'm going mad here.
Pixhawk2, Tarot 650, nothing crazy.
Compasses are calibrated (repeatedly), ESCs are calibrated (One-by-One now, doesn't solve anything), got two GPS' now.
1) Motor Balance fails sometimes. CoM is perfectly fine (tested it), ESCs are calibrated, motors are the same and same age.
2) Whenever I switch to Loiter, the quad accelerates in one direction until I switch back.
I've run out of ideas on how to fix it. Compass calibration is not "relaxed", but on default. Only using the two external compasses (M8N) now to avoid interference of the internal ones with ESCs. Checked for twisted motors etc., all looks fine.
I'll attach some logs, maybe one of you finds something helpful. Thank you, guys!