Okay Ill just put down some points what it could be.
1. Faulty ESC, spin up the motors without props see if you see any abnormalities. Don't go full on the motors to long not good for them !
2. Motors issue, perform the same check like above !
3. WKM NAZA etc. don't ask me why just boots up sometimes and act wired:
After this i preformed another boot up it never happened again !
4. Check the wiring especially to the motors go sure that none if the bullet connecters are either loose of not soldered the way they should be. You will
probably have to take of the heat shrinks.
5. Check the IMU status in the Naza assistant.
6. Check your radio that its really doing what its supposed to and that you have a standard clean model setup on you radio with no mixer etc. that could have influenced the take off.
7. If you can go sure that you don't endanger yourself or anybody else hold the quad in the air with prop on and motors spinning and check if it really levels the way it should be. But really only do this only if you feel comfortable with it. I had a quad spinning up full once in my hands and I wasn't ready for it so it bit me all over !
Boris