Unmotivated yaw rotation after minutes of steady Loiter

[wicked1 (S)]

I’ve been having the same problem all year… Copter suddenly yaws w/ no input from me. Mag and motors, etc, look ok.

Help determine cause of sudden yaw

Hello, I’m trying to figure out why my copter is making some sudden yaws. I flew yesterday in stabilize, and three times the copter suddenly spun around. I thought it might be RC reception, or a problem w/ my motors, but I’m not seeing any signs of that in the logs. It looks like the FC is telling it to do it. Yaw and desired yaw are about the same. Two of the times it does it, one motor does go to its minimum throttle, but I’m not sure that’s a problem, since the 3rd time it did it the mo…