Output to motors not correct on Hexa X configuration

[GoogleCodeExporter]

What steps will reproduce the problem?
1.Hexacopter in X configuration
2.Try yawing the hexa(better hold it instead of flying it)
3.

What is the expected output? What do you see instead?
When yawing, the output induces violent roll and pitch moments which makes the 
copter unflyable

What version of the MegaPirateNG are you using?
2.8 R2

Please provide any additional information below.
I tried version 2.7 R4, that one seems to work just fine.

Original issue reported on code.google.com by kevin.ho...@gmail.com on 29 Dec 2012 at 7:13

[GoogleCodeExporter]

Try to lower "Yaw Angular Rate Control P"

Original comment by Alexey.K...@gmail.com on 30 Dec 2012 at 7:44