Octorotor Continuous Yaw Rotating

I have built a octorotor X with Pixhawk2,1.
ButI found some problems in the first flight.

  1. The octorotor keeps on rotating CCW.
    (I wonder if the motor number in the reference airframe is correct.
    It seems changing motor 4 and 6 makes more in order.
    Octorotor x Motor No.

  2. The yaw command seems does not work.
    It seems as if the flight controller rejects the command.

Does anyone had similar problem?

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