If your quad has an intermittent twitch/oscillation/wobble while flying, you may think you get a bad gyro on your flight controller. Before you get this conclusion, please follow these steps:
1. Put your quad upright on the table and avoid any vibrations. Connect your flight controller to the Betaflight configurator on your computer, and capture a 1-minute video to show whether there is any continuous quick ascending/descending of the heading/pitch/roll data. 
If the answer is yes, you probably get a bad gyro and please share this video with us.
If not, please go on to check the following steps.
2. Are you running Bluejay firmware on your ESC? If yes, please try to flash it to BLHeli-S firmware to see if the twitch disappears. From our test, Bluejay firmware does have twitch/wobble issues on some kinds of frames but the issues disappear if we switched back to BLHeli-S firmware.
3. If you're running BLHeli-S firmware, make sure to turn off the 'Bidirectional DShot' because BLHeli-S firmware does not support bidirectional DShot.
4. The twitch/oscillation/wobble may comes from motor desync. You may check this article for more information: What to fix motor desync?
#bad gyro
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