QGC Survey

Is there a way to improve this? I conduct surveys using the survey function with a fixed mount for the camera in NADIR.
The pictures are fine on the straight legs, however at the end of the leg and start of a new leg. The drone seems to start the leg before completing the yaw onto heading, meaning the first picture of the leg is blurred due to the yaw motion.

Is it possible to change this, so that the drone stops, completes the yaw onto heading and then continues?

Hope this makes sense?

That is what turnaround distance is for. This adds extra time for the vehicle to be going straight before it enters the next transect.