Twitchy behavior need input- 29 inch props big copter

OK so I have a 29 inch prop quadcopter that is fling pretty well but having a bit of twitchiness. I do not thing the Stab. Rate P or the rate loop is causing it since it doesn’t really show up in the logs and reducing the stab P or rate P has no effect. The biggest issue is with yaw. Left yaw causes a loss of altitude and right yaw a major gain. If I get a calm day I plan to autotune again and see how it goes. Any input or ideas would be appreciated. Thanks!

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i cant comment on the log as im no log analysis expert but can you maybe add a picture of the machine / installations and elaborate a little bit what components you use ? just to get a better picture.


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