I have a quad that was flying reasonably well, even before a fine-tuning, see log 1. (I used parameters that another identical quad)
After the previous log flight, he started to rattle and shake only the yaw. See log 2.
The problem persists even flying only in stabilized mode flight. Looking at the log, I didn’t find any significant vibrations, and YAW vs. DesYAW actually appear pretty different, even without touching the yaw stick after takeoff.
I typically see those as Compass problems. I have a small quad with an H743-mini and I occasionally see those messages and assume they are compass problems. It’s tight quarters on that craft and I use a Li-ion battery.
They are separate devices.
I believe the data is fused from both IMU’s but not absolutely sure about that.