ESP32-CAM NMS Pose Yaw Flips

I’ve got an ESP32-CAM (AI Thinker) flashed with the Synthiam ESP32-CAM firmware (set to Client Wi-Fi) mounted overhead and feeding ARC through the Camera Device skill as an EZ-B camera; it’s about 2.2 m above the floor with a slight 10-15 tilt, resolution set to 640x480 in Camera Device, and a small differential-drive bot with a printed glyph (about 120 mm) on top that I want to localize with the Camera NMS Pose skill and then hand off to The Better Navigator for waypoints. The stream looks clean and detection is solid in the center, but I’m seeing two issues: 1) the reported heading occasionally snaps 180 when the robot nears the left or right edge of the frame or rotates slowly in place, and 2) X/Y drifts ~10-20 cm toward the edges even after I set the origin and offsets in the Camera NMS Pose config. I’ve tried: rotating the image 180 in Camera Device, toggling horizontal/vertical flip to align the axes with my map, different resolutions (320x240 and 800x600), moving the camera closer to square-on (less tilt), bright uniform lighting, and a higher-contrast glyph print; I also tested lowering frame rate to reduce JPEG compression artifacts from the ESP32-CAM, but the yaw flip still appears intermittently. Before I redesign the mount again, what Camera Device and Camera NMS Pose configuration sequence do you recommend for an ESP32-CAM used as an overhead tracker to keep orientation continuous (avoid 180 snaps) and stabilize X/Y across the frame-specifically, should axis alignment be handled by rotate/flip in Camera Device or inside NMS Pose, and is there a heading smoothing/lock option I’m missing?