This question is about "Guided Mode"

Hello, Everybody.
I have a question about “Guided mode”. The current helicopter firmware is the latest version,
While the helicopter is hovering in “Loiter mode”, it moves to the desired point in “Guide mode”, and when the aircraft reaches the point, the aircraft yaws.
I want to fix the heading direction of the aircraft to the movement path, but when it reaches the desired point, the aircraft yaws badly.
I want to know what the problem is.
I want to know if I need to modify the parameters or if there is a problem with the hardware.

Please post a .bin log file.

Hello, amilcarlucas.
Upload log files here.
But there was one error. It was not the latest firmware, it was V 4.0.7.
Thank you.