# Adjust Yaw rotation speed and smothness in wp missions with user controlled heading **URL:** \ **Category:** Ideas & Suggestions\ **Created:** [March 16, 2022, 4:31pm UTC](https://forum.flylitchi.com/t/adjust-yaw-rotation-speed-and-smothness-in-wp-missions-with-user-controlled-heading/2192 "2022-03-16T16:31:14Z")\ **Posts on this page:** 1\ **Showing post:** 37
**Author:** ![JacktheRipper](https://forum.flylitchi.com/user_avatar/forum.flylitchi.com/jacktheripper/32/393_2.png) [@JacktheRipper](https://forum.flylitchi.com/u/JacktheRipper)\ **Post date:** [March 22, 2022, 9:15pm UTC](https://forum.flylitchi.com/t/adjust-yaw-rotation-speed-and-smothness-in-wp-missions-with-user-controlled-heading/2192/37 "2022-03-22T21:15:43Z")
> [@JacktheRipper](#): > > I’m going to focus on jerk minimization through a series of test flights varying anything I can think of, just to learn the possibilities And I did do some flight test to examine ways to minimize, and the results are posted here: > [@I need Help With my Mini2 and Litchi App for IOS](https://forum.flylitchi.com/t/i-need-help-with-my-mini2-and-litchi-app-for-ios/2250/51): > > Chris… I did not know that, thanks. So, to move things on a bit, I created two waypoint missions that circled my house, one square (no curves at waypoints, and one that used curves to simulate a circular path, at least for 3/4 of the route. I ran each at three speeds: 1.4, 2.8 and 3.6 Meters/Sec. All were done at 30 M altitude. All were focused at the center of the house at 2 M altitude for the entire route. The square was 45 M on a side, and the circular part of the curved path was 28 M radiu… --- _[View the full topic](https://forum.flylitchi.com/t/adjust-yaw-rotation-speed-and-smothness-in-wp-missions-with-user-controlled-heading/2192)._