I've been flying a lot of AUTO mission lately and I have noticed a persisting problem. My quad with ArduCopter 3.0.1 never wants to face the direction it is going, nor does it turn towards the next waypoit, it just 'strafes'. In other words the Yaw is not changing however the quad is successfully running the missions. Is it possible to even be in simple mode while in AUTO, and if so how do you disable it?
Thanks in advance, and here is the dataflash log if someone wants to look at it.