First flight with forward pitch leans to the left

Hi All.
I have the PIXHAWK4 MINI from Holybro in a quadcopter.

On each first flight, the first time that I pitch it for forward flight, it will lean to the left instead of flying straight.

However after one 180 deg turn, it will self correct and it then flies perfectly straight as it should.

Then on re-boot it will present the same left lean on first time forward and then once again after a turn it will then fly nice and straight.

I thought it might be a compass problem? But why then does it fly straight after 1 turn?

Has anyone experienced this and perhaps have a cure?

Thanks kindly


Here is the log file if anyone can assist.