I have found that when I land on throttle back using the default controller code, the yaw is also affected and so the Codrone also rotates left or right. I set yaw=0 instead of -1 and now can land with no rotation.
Is there any way to code so that if the left joy stick is a hard right or left, the drone rotates +/- 45 degrees respectively. I'd like a little latitude so if I have a range between - 40 to -50 degrees, rotate left 45 degrees and the opposite for rotate right. Any suggestions on how to accomplish this?