Figure 8's Continuous Yaw
I'm not as smooth as I'd like, but I'm getting there. It's taken many hours of practice just to get to this point. Once you can hover in yaw, one of the next steps is learning how to move the copter/quad around while yawing. I can also do this inverted, but not as well yet. I started off by slowing down time to 60% of real time and eventually worked up to 100% speed. RC Heli sims are really good for learning how to orient your quadcopter.