hello, I want to control position and yaw，how to do it

[boyuandeng]

I want to control the expected position and yaw (use yaw to solve quaternions) and ignore pitch and roll. My problem now is that the expected position and quaternion I solved (solved by roll, pitch and yaw) have no chance to twitch during actual control, so I tried to set pitch and roll to 0 and only set yaw to solve quaternion. Although the effect is better, it still twitches and is not smooth. Do you have any guidance

[boyuandeng]

i have done the work.