# Smooth turns in survey waypoint missions

**URL:** <https://discuss.px4.io/t/smooth-turns-in-survey-waypoint-missions/15076>\
**Category:** Uncategorized\
**Created:** [February 7, 2020, 6:47pm UTC](https://discuss.px4.io/t/smooth-turns-in-survey-waypoint-missions/15076 "2020-02-07T18:47:20Z")\
**Posts on this page:** 1\
**Showing post:** 8

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**Author:** ![Tom\_Lautenbach](https://discuss.px4.io/user_avatar/discuss.px4.io/tom_lautenbach/32/6890_2.png) [@Tom\_Lautenbach](https://discuss.px4.io/u/Tom_Lautenbach)\
**Post date:** [October 7, 2020, 10:04am UTC](https://discuss.px4.io/t/smooth-turns-in-survey-waypoint-missions/15076/8 "2020-10-07T10:04:18Z")

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HI Artix, I see you moved the thread to here. Did you have success with changing the max yaw rate in particular? And have you managed to come across a custom waypoint mode? I am still struggling with the same issue you have. our LIDAR needs to have smooth transitions for precise data.

cheers

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