I’ve documented the problem here:
but wanted to spur on more discussion.
It appears that if you have a R/C receiver that does not send the last know R/C PWM levels for yaw, pitch and roll and the R/C is turned off, the 3.4 firmware will take 0 for yaw as maximum yaw left (and likely max roll and pitch) upon using guided takeoff.
The work around right now is to keep the R/C turned on even if you are flying the copter with a GCS.
I’d expect the copter to use the mid-stick values (1500 for yaw, pitch and roll) if they are all set to 0 PWM. Throttle should be set to 1000 (or min-throttle) if there is not input for non-automatic modes.