Discontinuous yaw data issues for a short period of time

Hello everybody.

I post flight log data to discuss discontinuous yaw data.
As shown in the figure below, the yaw data were discontinuously incresed for a short time (about 0.05 seconds, 7 degrees).

Looking at the yaw rate data, yaw data can never be derived. I think it was derived by changing the main sensor to another sensor at that moment. Has anyone else had the same issue as above?

I found some information. Problems with Sensor drift (Yaw)

Is it yaw drift? because of temperature?