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Qav-Build Motor/yaw Glitch

Recently, I completed a Qav-R build using EMAX RS2205 2600kv motors, Littlebee 4in1 blheli esc, and a naze32 rev6. After the build, we were able to get it in the air with one catch. In the half throttle range (around hover) it is very jumpy. It tends to sound like a motor is skipping or something and this causes the copter to slightly jump around on the yaw axis.

After testing all motors individually in cleanflight, we proved all motors functioned properly with no flaws. When tested all together while armed with props on and without, it does the glitch.

I was just wondering if anyone had some input on why this may be happening...


Gravity Tester
Sounds like a wacky tuning problem. Play around with the PIDs and see if anything changes. Lower P and D gain to start with. It may also be a timing issue, but I doubt it. What happens if you go above mid throttle.