I think the title pretty much says it all. I'd like to control the yaw acceleration particularly, and the yaw rate while in auto missions. Seems like there must be a parameter for this, but I can't find it.
Edit: maybe a bug? I've found these:
ATC_ACCEL_Y_MAX: "Maximum acceleration in yaw axis"
ATC_SLEW_YAW: "Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes"
They definitely have an effect in loiter mode - if I set my ATC_ACCEL_Y_MAX really low, I see extremely slow yaw acceleration. However with the same setting, if I got into auto mode I get sharp yaw movements again.