I've been currently playing around with a toy quad-copter that you can write your own programs for and was attempting to make it go to a set of coordinates that are specified. I was wondering if someone could help me design a controller for the yaw component. I am currently calculating the angle needed to turn by take the two points, starting and destination, and using a triangle to find the angle. This works great for a stationary object and turns to the desired angle. The problem comes from the toy not staying directly in place while rotating. Any input would be greatly appreciated.