Possible Yaw Fix...
Hey, just in case you're still puzzling over this one - I may have a fix...
The same problem has been aggravating me for a LONG time. I was using Baseflight and then had a go with the stock Cleanflight defaults setup. Still randomly yawing CCW whenever it feels like it.
Also noticed that after an intentional CW yaw input, when releasing the stick, the quad would correct a small amount CCW, BUT after an intentional CCW yaw, when releasing the stick, the quad would continue the CCW yaw, to a similar extent as the 'correction' from a CW yaw.
ANYWAY.
The fix for me was to flash the most recent firmware in Cleanflight, then choose the
"MultiWii (rewrite)" option for the PID controller. Simple as that.
The other controllers (Lux, Harakiri, MultiWii 2.3 etc) all still gave dodgy CCW yaw issues, though not as pronounced as the "MultiWii (old)" controller.
I hope this might help someone. Has anyone else found another fix perhaps?