How to increase Yaw Rate?

Hey guys,

I have the feeling that the yaw rate is pretty slow. A 360° yaw turn in position mode takes about 4sec. Which parameter is the right one to make it faster in position and in offboard mode?

Any help is appreciated! :slight_smile:

It is the parameter MPC_YAWRAUTO_MAX that needs about 4 seconds at 90 deg/s for 360°.

But be careful with very high values, in this mode the rotation does not stop abruptly when the yaw stick is released …

Better to increase the P gain upto 0.400

I have set MPC_YAWRAUTO_MAX from 45° to 90° and I dont think that it has any effect at all. Might it be that there are different parameters that are limiting the yaw rate?
I have set MPC_XY_VEL_MAX to 4m/s. Can it be that the max xy velocity limits the yaw speed?