Pixhawk Thinking Tarot 650 Yaw Hard Twitch

Hi Everybody,
my Tarot 650 quad twitches a lot on the yaw axis when it is still on the ground, but when I do the motor/compass interference test, the motors run very smoothly without any noticeable shaking!
please may you help me with the mighty cause, is it yaw rates or stabilize rates…?
thx in advance

Have you got a .bin log file we can look at?

Of Course,