Unxepected rotation by yaw.

Hello @alexandrsachuk760 , welcome to the community,

This is a very common problem called “yaw imbalance” and is explained in detail in multiple forum posts. Multiple solutions are also discussed in this forum. Use the search function to easily find relevant threads.

Shameless plug: section 1 of my How to methodically configure and tune any ArduCopter thread, describes the problem and the solution.

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