Quad copter spinning in autonomous flight

Problem is when quad take off it spins in circular motion(yaw axis) on its path(autonomous flight) and i want stop tried adjusting trim on radio but no change, have checked motors spin direction and props , re calibrated escs all checked ok.
pixhwak 2.1 cube black.
firmware 4.0.1(latest).
please suggest me solutions.

Any log?

Does it spin when flying in manual modes?

Check that all your drone arms are perfectly levelled.
This kind of behaviour can occurs when an arm is twisted and a propeller not really horizontal


please watch this video.

If you post a link to the .bin log we will probably be able to see that shows motor mounts or arms twisted and motor torque unable to overcome the physical yaw bias


please watch this video.
https://drive.google.com/file/d/1FkfNXCNEoGWWOABWXwGnQ4rhmJiM0Gco/view?usp=sharing

i have uploaded bin and log file, please check .

https://drive.google.com/file/d/1FkfNXCNEoGWWOABWXwGnQ4rhmJiM0Gco/view?usp=sharing