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I have the exact same issue. I am waiting for a yaw parameter for auto mode, but as of yet I do not believe one is available to change the yaw rate in deg/sec. You may try running Arducopter 3.2 and running the "spline waypoint" function which smooths out the flight path...or....just put in...

On my first test flight as an X4 they flew REALLY nice. On the current frame I felt they flew much better that the 12x3.8 I also tried. I just finished wiring up the other 4 motors and need to reconfigure the fc before the next test. The frame is big, 42.5" mtm (diagonal), and the 12x3.8...

I have been balancing my APC 14x4.7 and they have been a real experience for sure. These will go on my X8 and everyone I have gone through so far have had one edge that has been heavy. I have watched video on hub balancing (probably same one with the velcro etc.) and was experimenting with...