Hi, recently fitted a new Naza M Lite controller and GPS to my home made test quad which flies well and all functions work. Problem is when I yaw left, the quad gains altitude and when I yaw right the quad loses altitude. I remember I had a similar problem with a different controller when flying in bright sunlight and the barometer was not covered but the Naza is in it's case and I wouldn't expect the sunlight to have any effect. Please, anyone have this problem or other cause for altitude to change.

have you fixed the orientation of flight control to the head of your drone?
And try to calibrate IMU through assistant software.
And your RC control mode is 'Japanese', right? Try to calibrate throttle and elevation tunnel.

What you are describing with sun hitting the barometer is correct. This is why DJI switched to dark cases on the NAZA v2.

Some people have put black electrical tape on the side with the barometer and this has helped solve the issue.