Heading is spinning

ArduCopter
1

Even though the motor is leveled, the heading continues to rotate clockwise as soon as it takes off. The same is true for yaw left with the controller.

2

Incorrect installation and configuration may cause this situation, and you may also need to perform PID adjustment.
https://ardupilot.org/copter/docs/connect-escs-and-motors.html

3

Thank you for your answer.
I checked both the motor direction and the horizontal, but it was normal.
When you fly, your posture collapses while preventing the aircraft from spinning.
What else could this problem happen other than motor level.

This is log data

4

There is a massive amount of frame twist. Usually motor mounts can be twisted, but in this case I think it is the whole arms or frame.
Maybe you have a light duty 3D printed frame?

image
image1672×948 23 KB

Settings wont fix this. It’s a physical problem.

Maybe send a photo of what you have.