Its due to the 30 mph mission speed necessitated by the 7.2 mile flight length. It yaws smoother if you fly slower.
These are great, but there was some noticeable jerky jerkiness in the Yaw. For example in the spiral around the building section the yaw yanks off to the side a number of times.
Is this a limitation of Litchi, or can this be softened up on a shorter (and slower) mission? Or can it be resolved by softening up the gimbal settings?