Yaw setpoint jump before takeoff


I’m running into an issue with a new multicopter (home built) where the yaw setpoint will typically jump -2 to -6 degrees immediately on motor arm. Prior to takeoff with a heavy load this will attempt to max out the CW props because the error builds up as it’s not yet in the air and so there is zero yaw authority.

This happens in all the logs I reviewed right, immediately on motor arm. I assuming it’s resetting the yaw setpoint before the motors spin, but can’t figure out why the yaw setpoint jumps down after tracking the estimate so well.

Any ideas on what’s causing this or how to fix it would be greatly appreciated! Thank you in advance!

Flight log examples:

Vehicle information
Quad X, 18" props designed to carry a couple pounds with a drop mechanism
v1.11.3 firmware
Vehicle flies great in the air aside from a slight yaw imbalance which I can’t seem to find any tilted motors but am continuing to search.