Speed record challenge w/ 250mm (or under) quad. Part 4- 163km/h on 4s

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Aparently I still have yaw issues... ESCs are calibrated, GUI doesn't show any anomalies, but in flight sometimes yaw goes nuts when I start releasing throttle, at around 80-90%. If the quad sits powered on for few minutes then yaw screwups is either gone or not as aggressive, but my yaw issues are still not solved...
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