the yaw of a typical quadrotor easily saturates. One of the problems that occur when asking for a large change in yaw angle, is that the quadrotor can build up so much angular velocity in the yaw axis, that it can not physically slow down before reaching the yaw setpoint due to saturating. This will result in overshoot.
This can be helped by adding a yaw rate limit, which this PR does for the INDI controller.
Ewoud Smeur
53b8a78500