Yaw dampening

Hey folks,I understand that APM uses yaw in coordinated turns, when banking, but the airframe I am currently working on is not very stable in yaw. Comming out of a steep bank, the airplane Pivots back and forth before settling, about the yaw axis. I was wondering if it's possible to add yaw dampening somehow. I know micropilot and piccolo pilot has it, and it can even be active in manual modes with those systems.I also "yaw_modes" somewhere in the code, does it have something to do with that?

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