Copter "yawing"

Hi @all,

I have a Problem with my copter Spinning around the z axis (yawing). It is not very fast but this leads to the copter become instable after few seconds.
I updated a log here:
I fly indoor only in altitude mode without any gps or Vision.
Anyone have a Suggestion why this occurs?

Here I flew only in Manual mode:


Dear Daniel,

I got this only once, because of a miscalibration. Try to recalibrate and see how it goes. (: