For April 2025, the focus was on strengthening autonomous flight stability in PX4-PX4 Autopilot. Delivered yaw smoothing enhancements that replace the previous yaw rate limiting with a heading smoothing filter that respects acceleration limits, resulting in more stable yaw behavior during complex maneuvers and improved mission reliability. This work contributes to safety, reduces operator intervention, and supports more robust autonomous operations across varying flight envelopes.