Which parameter should I debug at this moment?
That comes down to tuning. You could probably run autotunes to sort it out, but I suspect you need to go over the whole tuning process:
https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/
If you only have trouble with yaw, or something specific, do a test flight with plenty of yaw and fly in some circles or figure-8 if you can manage it.
Let’s see that .bin log file and we can help further.
Be sure to have these set:
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222
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