diff --git a/src/lib/rover_control/rovercontrol_params.c b/src/lib/rover_control/rovercontrol_params.c
index 5a34b76433..3683384f5a 100644
--- a/src/lib/rover_control/rovercontrol_params.c
+++ b/src/lib/rover_control/rovercontrol_params.c
@@ -50,6 +50,37 @@
  */
 PARAM_DEFINE_FLOAT(RO_YAW_STICK_DZ, 0.1f);
 
+/**
+ * Yaw rate expo factor
+ *
+ * Exponential factor for tuning the input curve shape.
+ *
+ * 0 Purely linear input curve
+ * 1 Purely cubic input curve
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @group Rover Rate Control
+ */
+PARAM_DEFINE_FLOAT(RO_YAW_EXPO, 0.f);
+
+/**
+ * Yaw rate super expo factor
+ *
+ * "Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
+ *
+ * 0 Pure Expo function
+ * 0.7 reasonable shape enhancement for intuitive stick feel
+ * 0.95 very strong bent input curve only near maxima have effect
+ *
+ * @min 0
+ * @max 0.95
+ * @decimal 2
+ * @group Rover Rate Control
+ */
+PARAM_DEFINE_FLOAT(RO_YAW_SUPEXPO, 0.f);
+
 /**
  * Yaw rate measurement threshold
  *
diff --git a/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
index a750d622eb..38be9532c5 100644
--- a/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
@@ -78,8 +78,9 @@ void AckermannManualMode::acro()
 	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
 	rover_rate_setpoint_s rover_rate_setpoint{};
 	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * math::interpolate<float>
-						(manual_control_setpoint.roll, -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
+	rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+						math::superexpo<float>
+						(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 }
 
@@ -107,8 +108,9 @@ void AckermannManualMode::stab()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);;
+		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
@@ -172,8 +174,9 @@ void AckermannManualMode::position()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);;
+		rover_rate_setpoint.yaw_rate_setpoint = matrix::sign(manual_control_setpoint.throttle) * _max_yaw_rate *
+							math::superexpo<float>(math::deadzone(manual_control_setpoint.roll,
+									_param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
diff --git a/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
index f3c27575d2..3d5eb1974a 100644
--- a/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
@@ -126,6 +126,8 @@ private:
 		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
 		(ParamFloat<px4::params::RO_YAW_P>)         _param_ro_yaw_p,
 		(ParamFloat<px4::params::RO_YAW_STICK_DZ>)  _param_ro_yaw_stick_dz,
+		(ParamFloat<px4::params::RO_YAW_EXPO>)      _param_ro_yaw_expo,
+		(ParamFloat<px4::params::RO_YAW_SUPEXPO>)   _param_ro_yaw_supexpo,
 		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
 		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit
 	)
diff --git a/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp b/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp
index dbb0645a6e..0b116708a9 100644
--- a/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp
+++ b/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.cpp
@@ -58,7 +58,8 @@ void DifferentialManualMode::manual()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 	rover_steering_setpoint_s rover_steering_setpoint{};
 	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.roll;
+	rover_steering_setpoint.normalized_steering_setpoint = _param_rd_yaw_stk_gain.get() * math::superexpo<float>
+			(manual_control_setpoint.roll, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = hrt_absolute_time();
@@ -78,8 +79,8 @@ void DifferentialManualMode::acro()
 	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
 	rover_rate_setpoint_s rover_rate_setpoint{};
 	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(manual_control_setpoint.roll, -1.f, 1.f,
-						-_max_yaw_rate, _max_yaw_rate);
+	rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.roll,
+						_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 }
 
@@ -107,8 +108,8 @@ void DifferentialManualMode::stab()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);;
+		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+				manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
@@ -165,8 +166,8 @@ void DifferentialManualMode::position()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.roll,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);;
+		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+				manual_control_setpoint.roll, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
diff --git a/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp b/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp
index bce5d36ea5..1642afe1d7 100644
--- a/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp
+++ b/src/modules/rover_differential/DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp
@@ -124,6 +124,9 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
 		(ParamFloat<px4::params::RO_YAW_STICK_DZ>)  _param_ro_yaw_stick_dz,
+		(ParamFloat<px4::params::RO_YAW_EXPO>)      _param_ro_yaw_expo,
+		(ParamFloat<px4::params::RO_YAW_SUPEXPO>)   _param_ro_yaw_supexpo,
+		(ParamFloat<px4::params::RD_YAW_STK_GAIN>)  _param_rd_yaw_stk_gain,
 		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
 		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit
 	)
diff --git a/src/modules/rover_differential/module.yaml b/src/modules/rover_differential/module.yaml
index 4a1132b857..b448753bf1 100644
--- a/src/modules/rover_differential/module.yaml
+++ b/src/modules/rover_differential/module.yaml
@@ -44,3 +44,14 @@ parameters:
         increment: 0.01
         decimal: 3
         default: 0.174533
+
+      RD_YAW_STK_GAIN:
+        description:
+            short: Yaw stick gain for Manual mode
+            long: Assign value <1.0 to decrease stick response for yaw control.
+        type: float
+        min: 0.1
+        max: 1
+        increment: 0.01
+        decimal: 3
+        default: 1
diff --git a/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp b/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp
index 9984fd10cd..aba3d23f9f 100644
--- a/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp
+++ b/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.cpp
@@ -58,7 +58,8 @@ void MecanumManualMode::manual()
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
 	rover_steering_setpoint_s rover_steering_setpoint{};
 	rover_steering_setpoint.timestamp = hrt_absolute_time();
-	rover_steering_setpoint.normalized_steering_setpoint = manual_control_setpoint.yaw;
+	rover_steering_setpoint.normalized_steering_setpoint = _param_rm_yaw_stk_gain.get() * math::superexpo<float>
+			(manual_control_setpoint.yaw, _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 	_rover_steering_setpoint_pub.publish(rover_steering_setpoint);
 	rover_throttle_setpoint_s rover_throttle_setpoint{};
 	rover_throttle_setpoint.timestamp = hrt_absolute_time();
@@ -78,8 +79,8 @@ void MecanumManualMode::acro()
 	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
 	rover_rate_setpoint_s rover_rate_setpoint{};
 	rover_rate_setpoint.timestamp = hrt_absolute_time();
-	rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float> (manual_control_setpoint.yaw, -1.f, 1.f,
-						-_max_yaw_rate, _max_yaw_rate);
+	rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(manual_control_setpoint.yaw,
+						_param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 }
 
@@ -106,8 +107,8 @@ void MecanumManualMode::stab()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);
+		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+				manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoint invalid
@@ -169,8 +170,8 @@ void MecanumManualMode::position()
 		// Rate control
 		rover_rate_setpoint_s rover_rate_setpoint{};
 		rover_rate_setpoint.timestamp = hrt_absolute_time();
-		rover_rate_setpoint.yaw_rate_setpoint = math::interpolate<float>(math::deadzone(manual_control_setpoint.yaw,
-							_param_ro_yaw_stick_dz.get()), -1.f, 1.f, -_max_yaw_rate, _max_yaw_rate);;
+		rover_rate_setpoint.yaw_rate_setpoint = _max_yaw_rate * math::superexpo<float>(math::deadzone(
+				manual_control_setpoint.yaw, _param_ro_yaw_stick_dz.get()), _param_ro_yaw_expo.get(), _param_ro_yaw_supexpo.get());
 		_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 
 		// Set uncontrolled setpoints invalid
diff --git a/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp b/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp
index 52bbb27fb3..1c03956be4 100644
--- a/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp
+++ b/src/modules/rover_mecanum/MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp
@@ -126,6 +126,9 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RO_YAW_RATE_LIM>)  _param_ro_yaw_rate_limit,
 		(ParamFloat<px4::params::RO_YAW_STICK_DZ>)  _param_ro_yaw_stick_dz,
+		(ParamFloat<px4::params::RO_YAW_EXPO>)      _param_ro_yaw_expo,
+		(ParamFloat<px4::params::RO_YAW_SUPEXPO>)   _param_ro_yaw_supexpo,
+		(ParamFloat<px4::params::RM_YAW_STK_GAIN>)  _param_rm_yaw_stk_gain,
 		(ParamFloat<px4::params::PP_LOOKAHD_MAX>)   _param_pp_lookahd_max,
 		(ParamFloat<px4::params::RO_SPEED_LIM>)     _param_ro_speed_limit,
 		(ParamFloat<px4::params::RM_COURSE_CTL_TH>) _param_rm_course_ctl_th
diff --git a/src/modules/rover_mecanum/module.yaml b/src/modules/rover_mecanum/module.yaml
index 778f548ac2..1ff9558f73 100644
--- a/src/modules/rover_mecanum/module.yaml
+++ b/src/modules/rover_mecanum/module.yaml
@@ -30,3 +30,14 @@ parameters:
         increment: 0.01
         decimal: 2
         default: 0.17
+
+      RM_YAW_STK_GAIN:
+        description:
+            short: Yaw stick gain for Manual mode
+            long: Assign value <1.0 to decrease stick response for yaw control.
+        type: float
+        min: 0.1
+        max: 1
+        increment: 0.01
+        decimal: 3
+        default: 1