Condition Yaw Problem - Manual Yaw Angle Command


We are having a serious problem about Condition Yaw command. We want to perform a waypoint mission with yaw angle commands. For this we are using the “Condition Yaw” and “Delay” commands. However drone performs an unwanted fast turn at the beginning of each Condition Yaw command.

Here is the flight video and the logs. You can see the unwanted turn with high yaw rate between 2-4 and 44-46 seconds of the below video. After these time periods, drone turns into our yaw angle with desired slow yaw rate.

We use GPS for yaw with compass fallback option (EK3_SRC1_YAW=3). We thought that this might occur due to autopilot switching to compass yaw and tested without compass fallback (EK3_SRC1_YAW=2), but same problem occurs.

Do you have any idea about this problem?

Also is it possible to manually command yaw angle (not the yaw rate) using RC channels (e.g.using a nob button), or any other way to command yaw angle at waypoints without using Condition Yaw command?