Autopilot hits Waypoints to "hard"

hello i’m using mission planner V1.3.0,so far all seems ok. I like the new Compass calibration process which seems more accurate then the old.
Today i was testing the Autopilot doing a small circle to find out the best WPNAV values for a smooth flight. i have to say that i’m flying without Gimbal.
The flight himself is working fine and smooth but every time a waypoint is arrived and the direction change to the next waypoint is done there is always a hard twitch.
a part of that it is working fine.
How can i do things better, anybody can give some advice i can test ?
Im flying an 3Dr iris, which is calibrated and setup properly.

please ask this in the arducopter forum. as they will have more advice than I can give.

i open this case