Yaw at waypoints

At waypoints, is there any way to make the copter stop, turn to face the next waypoint without moving forward and then move ahead. Currently we see the copter after reaching the waypoint start moving and tries to yaw simultaneously.


1 Like

Did you try changing:

Take a look at https://github.com/ArduPilot/ardupilot/pull/12142

So how do I enable this S-curve?Will it make the behavior the author of this post described?

You don’t. It’s now the default code for navigation.