Pixhawk moves all over when I Yaw in loiter

ArduCopter Copter 3.1
1

If I am in loiter mode it holds rock steady, however as soon as I feed in any yaw it starts to move to the opposite side mostly and will circle a little before it regains composure.

Come to think of it it is never that steady when I Yaw, and even in stabilize or alt hold I have to give it a ton of corection when I try to yaw. Maybe this is a result of being too overpowered and over propped? It otherwise flies very stable.

Pixhawk using the latest stable
4830 Turnigy Motors spinning 17" props
Hobbywing Platinum Pro ESC’s
2.8KG AUW.

2

Please post a log file

3

These two should both show the problem, but I am travelling now so I can’t get one that only shows it. If this isn’t enough I will film it hapenning in a short flight and post that log maybe this weekend.

Also in log 6 you can see where it starts to oscillate a TON in pitch when I try to descend i loiter, what gives there?