Auto mode bad turning path

Hello every one,
I am working on rover robot with:

  1. Chain robot as shown in the attached photo
  2. Cuav x7 autopilot (just for test)
  3. Cuav RTK 9P

manually, every thing good.
But with auto mode the robot do bad turning path as explained in the attached photo.
I try change the values of navigation tuning but I didn’t get good results, the best parameters values I get after many experiments shown in the attached screenshot.

Also the robot don’t care about it’s yaw angle, I want to know how to tell the robot to take its yaw angle into consideration in order to have good turning and good path?

Looking for your help.
Thanks.