[MultiBen]

which modes should pirouette compensation be enabled for ( Rate, Attitude? ), I'm not sure i fully understand yet what it does in the FC.

Ben

[f5soh]

Not related to stabilization mode, give a try.
Forward fly, apply Yaw rotation around 180° and look what happens with/without Piro Comp.

Or read wiki page and define what you want really.
https://librepilot.atlassian.net/wiki/display/LPDOC/Piro+Comp