Issue with yaw jump

Hello, flying PH 2.1, 680mm frame, 15" props.

I’m flying auto in a survey-like formation and sometimes on turns my jaw jumps in a not-so-smooth way. What could this be?


The graph makes it look much worse than it is. As 360 deg = 0deg it looks like its jumping a long way form say 255 to 5. Actually its just a small change of 10 deg.

Ah yes, you are correct. When it’s around 0 deg it can jump to 360 deg because it goes over 1 full circle. I’m not sure this shows what the drone is actually doing. The turns are kind of rough sometimes, where the yaw kind of janks rather than softly going into the turn.