The parameter file is attached0703 firmware4.0 fmu3 with overshoot acro para adjusted.param (15.7 KB)
I read very carefully about this thread and some other threads:
https://discuss.ardupilot.org/t/skid-steer-mower-overshooting-pivot-turns/28910/6
Seems the overshooting problem long exists, most of them did not tell clearly how they solved the issue, I also tried to add a 1s delay as Randy suggested but did not change much.
Btw the wiki is useful, is there also a handbook or just illustration that we can learn how those parameter work?