Copter 3.6.10 Problem Axis YAW

ArduCopter Copter 3.6
1

Hello guys.

I have drone Octa Quad. Engines - MAD 8108 170KV , ESC - T-Motor 60A FLAME HV, Propeller - 22.2x7.2, battery - 12S 16000 mAh.
The drone holds well in the YAW axis without the wind - Yaw does not rotate, it holds the drone in one place, but during gusts of wind (5-7m / s) it suddenly rotates in the YAW axis, after which it returns and it is good again. Does anyone know what it is caused by?
I put logs and parameters.

2

Try increasing ATC_RAT_YAW_FILT. Put it on a Chan 6 for in-flight tuning from where it’s at now (1.4) as a low and maybe 3 as a high.

3

I raised this value to 2.484 and it really helped. Thank You very much for your help.

4

If you arrived at the previous value from Autotune I have realized with some larger craft it will tune this low. Happy to hear it’s improved!