boat turn with a "S" tack

I test my boat yesterday, if distance between two points is short, there will be a "S" track. i tuned the following parameters but has no effect.

Firmware:3.0.1
WP_RADIUS:1m
SPEED_TURN_DIST:2m
SPEED_TURN_GAIN:50
CRUISE_SPEED:1.5m/s
NAVL1_PERIOD:12

Distance between point 1 and point 2 is about 20m
Distance between point 3 and point 4 is about 30m

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