I always had yaw not being stable, not even in hover. It was bouncing left and right even with no input.
Also different YAW_OPTIONS in APM_config.h yeld to bad results. It was either too strong, or too slow. It always had really big overshooting like if PID was tto high. I decreased P till I almost had no control, but the left-right problem was still there.
Something I've noticed is th…
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