Pixhawk4 w/PX4 Yaw before take off

Hello there!
I´m new developing a quadcopter with Pixhawk 4 and PX4, previously it used to flight normally but recently has problems, after arm starts yawing to the left, and taking off it falls, i already recalibrated the compass, ESC and balanced the weight, but nothing change.

Building: Holybro Pixhawk 4, Pixhawk 4 GPS, holybro PDB PM07-V2.2, 4 x 920kv motors, 4 x 30A ESC, 4S Lipo battery

Change the PID value for yaw rate. If this is not helping, try tilting your motors a little bit with washers or something. This will create a tilted thrust and will help with yaw