I set WP_YAW_BEHAVIOR to ‘1’ in conjunction with RTL so the copter faces the next WP. When initialting RTL. the copter first climbs to the RTL altitude and then FACES and starts moving toward the origin of launch (just what I’m looking for). All is working except that the yaw rotation (yawing to the direction of the launch site) is way too quick and very jerky. I’d like to slow the yaw rotation way down. Which param do I change?
Try decreasing ATC_SLEW_YAW
Thanks for the tip… for my rig… knocking it down to 2k worked perfectly.