@fpvberlin thanks for your time, it make sense what you found. When I loose propeller, roll/pitch were stabilze really fast, you can see it in video. But yaw axis no so the error goes up. The quetion is why. When it gets lower priority, it will be worse I suppose. In this moment copter needs more power to stabilize yaw.
My idea what could happen: Let say that desired yaw is 0 deg and copter gets to the CW rotation. When there is no enough power to stop the rotation till 180 deg what happen then ? Arducopter speed up rotation and it is trying get to 0 deg from the other side ? But it makes situation again worse. Log file looks like that:
But this is only consequence. Root cause is in low 4 motors output.
EDIT: as I'm thinking about it, maybe I'm wrong and there is nothink like desired yaw