Please can someone help me out? I am working on building my first quad (experienced pilot but not builder) and I have setup the naze32 on my custom quadcopter and pitch and roll work but I have no yaw control over the quad? The board recognizes my inputs for yaw and they are in the correct direction and yet I have no control. The quad also seems to lose control for short amounts of time and it gets very sluggish and unresponsive. Please help!
Help with Naze32 - No Yaw control!
Hey Kevin, welcome to the forum!
It's possible the yaw rate is toned so far down you wouldn't get a reaction to the stick movement, but since it's not spinning or drifting badly in yaw, I suspect the control loops are functioning acceptably well.
the "occasional loss of control", however points to another potential problem . . . How heavy is you quad? what motors/props are you using?
I have a sneaking suspicion you're too close to 1:1 thrust/weight ratio to be able to spare any power to torque the airframe.
It's possible the yaw rate is toned so far down you wouldn't get a reaction to the stick movement, but since it's not spinning or drifting badly in yaw, I suspect the control loops are functioning acceptably well.
the "occasional loss of control", however points to another potential problem . . . How heavy is you quad? what motors/props are you using?
I have a sneaking suspicion you're too close to 1:1 thrust/weight ratio to be able to spare any power to torque the airframe.
Hmmm . . . but you say you get yaw input signals on the configurator 
The slow yaw but stable pitch/roll implies the P gain is sufficient (it may be able to go higher, but if it's not yawing wildly in a pitch/roll then it's probably enough), but a slow creep of yaw points to a low I gain -- P is doing a good job of bringing the yaw rate back to 0, but the I loop isn't remembering that it's drifted off and bringing it back . . . but that doesn't point to why you have no yaw control.
one last hardware thing to check -- are all your props in the same plane as each other? If one or more is badly skewed one way or another by warped booms it could be inducing a yaw response too strong for the other motors to cancel, leaving you with no headroom to have yaw control . . . but that's not likely the case. You would still have yaw response in one direction, just not both.
Sounds like something is wrong in the mixer -- a setup snafu easy to fix, just remap the airframe type to something else, save and set it back to quad. Otherwise . . . we're down to reflash the board and start the setup from scratch
The slow yaw but stable pitch/roll implies the P gain is sufficient (it may be able to go higher, but if it's not yawing wildly in a pitch/roll then it's probably enough), but a slow creep of yaw points to a low I gain -- P is doing a good job of bringing the yaw rate back to 0, but the I loop isn't remembering that it's drifted off and bringing it back . . . but that doesn't point to why you have no yaw control.
one last hardware thing to check -- are all your props in the same plane as each other? If one or more is badly skewed one way or another by warped booms it could be inducing a yaw response too strong for the other motors to cancel, leaving you with no headroom to have yaw control . . . but that's not likely the case. You would still have yaw response in one direction, just not both.
Sounds like something is wrong in the mixer -- a setup snafu
easy to fix, just remap the airframe type to something else, save and set it back to quad. Otherwise . . . we're down to reflash the board and start the setup from scratch 
razor02097
Rogue Drone Pilot
Are the props spinning in the right direction?
