Just an anecdote for those thinking about tilting their motors for increased yaw authority, with no autopilot changes necessary, according to other users of this forum. Using the motor data posted here: https://shop.holybro.com/s500-v2-kitmotor2216-880kv-propeller1045_p1153.html
A tilt of 5 deg and 50% throttle gives a single-motor torque caused by thrust tilt of 0.0944 N*m. The power torque is 0.07 N*m.
At 100% throttle, thrust tilt torque is 0.2805138608 N*m, and power torque is 0.18 N*m.
So we see that tilting the rotors in this case more than doubles, but not quite triples, the yaw moment.
