Bad yaw oscillation (current master in SITL)

The copter oscillate about +/-30° yaw from target heading at a rate of about 60°/s (based on animation in map module)
Why ? I have never seen that before - did something about the model change recently?

Can you get a .bin log from such a flight, upload it to Dropbox or somewhere similar and post a link here.

Here you go :slight_smile:
Short story:

in worse than the map widget could animate.
Also, quite improbable perfect sawtooth with varying amplitude: