Some news
1. Solved random yawing at landing.
When we set last waypoint (point of landing) we must set POI Heading to any value ( not -0.0). After that copter keep yaw position during landing.
Mayby it's good idea to add "poi heading" value to landing parameters or use a take off position during landing with "-0.0" value.
2. Solved random yawing after reached waipoint.
We must decrese Loiter time value. (to 1-2)
3. Time in QGS is in "s" (seconds)