In the multicopter stabilized mode, the yaw stick controls the rate of rotation.
However, looking at the flight log data, when the yaw stick is at the center, the yaw angle setpoint and yaw angular rate changes.
So, I have questions below.
Question 1: How is the yaw angle setpoint established?
Question 2: How come does the yaw angular rate change when the yaw stick is at the center?