@Leonardthall and I discussed this yesterday. I think microcopters have similar issues on yaw to very large copters with efficient props - they need extra tuning to get a crisp response. Here is the Leonard method with my tweaks thrown in:
- Autotune on Yaw (very important to do this first)
- Increase ACRO_YAW_P - I set this to 10 and it gave me good response on a 4" but not so good on a 3"
- Increase ATC_RAT_YAW_D until you get yaw oscillation, then reduce it to 50% of that value. For my 3" this was quite high - 0.0035
- Increase ATC_RAT_YAW_P until you get yaw oscillation, then reduce it to 50% of that value.