Copter 3.4 RC2 issue in loiter making yaw

Hi Randy/Team,
Last Saturday test copter 3.4 rc2, when I was in loiter making several yaw 360 degrees in the middle of last yaw the quad to make drift that became uncontrollable, I try to steer toward me until I catch him in the air with my hand (never do this).
I attached the log to determine what could have happened.

Log link:

Frame: 450 quad
Board: BBBmini
Motor: 750 KV
Propellers: 10 4.70
Baterry: 5200 4s

Flight Mode Tryed
Stabilized = OK
AltHold = OK
Loiter = issue whit yaw

Thank you so much