Sudden movement in the drone

ArduCopter Copter 3.6
1

There was sudden yaw movement in the drone, and residual pitch and roll movement. The RCin VS RCout graph is also varrying very much. Mulltiple radio failsafe in the log file although the radio was always connected. Didnt take my yaw input also.

https://drive.google.com/open?id=1PyAV4auqRwUSFwFIRxfhhZQyp0_5Bt2P

2

RC in (1,2,3,4) is ROLL, PITCH, THROTTLE, & YAW. signal from transmitter.
RC out (1,2,3,4) is the PWM to (ESC) Motor(1,2,3,4)

3

Ya I know that. But the graphs are not matching.