Hi,
I´m trying to obtain a sharp control of the yaw in S500 frame with dji E300 motors and esc commanded by orangecube and a Holybro F9P.
I had to up the yaw accel quite a bit to get consistent pirouttes but I´m unable to find a solution for delays in control ,specially when stopping yaw commands.
I will much apprecciate a review of the parameters and any recommendation ,specially about filtering.
Also will apprecciate info about FF and D tuning for the yaw axys.
Thanks.
https://drive.google.com/file/d/1pRjdLa1ouvFVa5qmqUc2kJoZ7L238Ave/view?usp=sharing
Thanks Andy for the homework 
It does not cease to amaze me how "good "the searchs are working nowadays. That videos are truly gems in the dirt.
Thanks again.