How is the yaw angle setpoint established for Multicopter Stabilized mode

Hello All,

In the multicopter stabilized mode, the yaw stick controls the rate of rotation.
(Source: https://docs.px4.io/v1.9.0/en/flight_modes/manual_stabilized_mc.html)

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?

Please post a log and indicate where it is “wrong”. Or alternatively, I would suggest if this has been fixed with the latest release v.1.10.

Thank you very much for your reply.
Here is the log. I really appreciate your help.
https://review.px4.io/plot_app?log=d6201e34-db7b-44fa-b425-c56184669051

In stabilized mode, the controller will fight against a yaw drift, so having some yaw rate sp is normal if you have a some wind or a badly tuned vehicle. Is this log from an actual flight? If so, the attitude tracking doesn’t really look good, does it? I would really first focus on getting roll and pitch tracked okay, and then start caring about yaw.

Thank you very much for your response. I appreciate it.
So, do you know how the controller establishes the yaw rate setpoint in stabilized mode?
Looking at the above log for the yaw angular rate, it seems that the flight controller set the negative yaw rate setpoint for positive yaw rate estimated maybe trying to bring the yaw rate back to zero for some time period, but for other time period, it establish the positive yaw rate setpoint for positive yaw rate setpoint maybe giving up to bring the yaw rate back to zero.
I would like to understand the logic behind this behavior.

Anyone can answer to the above question? I appreciate it.