Spins like a top

I did some work on the gimbal, and went for a short AUTO flight. There were no errors before ARMing. Soon after taking off the quad started spinning (on the yaw axis) like a top. It completed the mission, but spun about 1 revolution every 4 seconds the entire time. After it landed, I noticed that the compass orientation was about 45 degrees off. Could this error make it spin, or is it something else as well.

That will do it.
I am more surprised it completed the mission.

A .bin file from the FC would help.

Here is the bin


Have a look at your rudder input

It was just doing as instructed.