Tricopter experiencing erratic roll behavior

Hi all,

I’m getting some interesting behavior when flying a tricopter around. It seems to be most noticeable when in forward flight, but it appears almost like the left and right motors intermittently cut out for very short amounts of time.

Looking at the attached log, around time stamps 506 and 583 seconds the desired roll vs roll lines deviate for a brief moment. It’s also noticeable when looking at the outputs from the cube to the ESCs (rcout). Channel 1 (right motor), channel 2 (left motor), and channel 4 (aft motor) will be aligned when hovering, but then I can see either the left or right motor signal spike during these events.

Any thoughts on what may be causing this? I’ve seen similar behavior on other drones in the past, but have never been able to determine the root cause. I’ve double checked wiring and looked over the drone quite thoroughly and don’t see any hardware issues.