I hope you are doing well.
I am flying and tuning a new H frame quadcopter - big one with 32 props.
When doing manual tune in AltHold, I figured out some strange behaviours. The drone did yawing without my input in the yaw channel. When analysing log, I realize there was some “noisy” or “abnormal” mangetic intensity in x and y axis. Right after the magnetic changed, the yaw rate changed, so I had to correct it by yaw stick (my input)
Set these back to default and try the Magfit utility in MAVExplorer to calibrate the compass and set the compass motor offsets. Page down to the MAVExplorer section. Magfit