Wrong direction when using auto mode

Here is the info i got from my log. My gnss signal and compass is quite good, but the boat seems do not go right direction. Then I check the log, the RC output is very strange, and here is the param file:
290723.param (14.7 KB)
Can anybody can help me to fix this?

Check the direction of your flight controllers response to yaw.

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Does it drive correctly in Acro Mode?
Does it perform correctly when in Motor Test? Testing Motor Direction

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Yes it drive correctly in acro mode. i will do the motor test later

If it runs correctly in Acro Mode then the Motor Test will be correct.
Post a link to the .bin log file.

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I’ll check it later. but if it do not response right way, which param should i change in the config?