After installing the Crazyflie Headless Client on my RPI as described here. I noticed that the YAW axis was mapped on the right shoulderbutton but it was impossible to use it.

Below you can find a config which maps it back to the right stick.

{
  "inputconfig": {
    "inputdevice": {
      "updateperiod": 10, 
      "name": "xbox360_mode1", 
      "axis": [
        {
          "scale": -1.0, 
          "type": "Input.AXIS", 
          "name": "thrust", 
          "key": "thrust", 
          "id": 3
        }, 
        {
          "scale": 1.0, 
          "type": "Input.AXIS", 
          "name": "yaw", 
          "key": "yaw", 
          "id": 5
        }, 
        {
          "scale": 1.0, 
          "type": "Input.AXIS", 
          "name": "roll", 
          "key": "roll", 
          "id": 0
        }, 
        {
          "scale": -1.0, 
          "type": "Input.AXIS", 
          "name": "pitch", 
          "key": "pitch", 
          "id": 1
        }, 
        {
          "scale": -1.0, 
          "type": "Input.BUTTON", 
          "id": 0, 
          "key": "pitchcal", 
          "name": "pitchNeg"
        }, 
        {
          "scale": 1.0, 
          "type": "Input.BUTTON", 
          "id": 3, 
          "key": "pitchcal", 
          "name": "pitchPos"
        }, 
        {
          "scale": 1.0, 
          "type": "Input.BUTTON", 
          "id": 7, 
          "key": "estop", 
          "name": "killswitch"
        }, 
        {
          "scale": -1.0, 
          "type": "Input.BUTTON", 
          "id": 2, 
          "key": "rollcal", 
          "name": "rollNeg"
        }, 
        {
          "scale": 1.0, 
          "type": "Input.BUTTON", 
          "id": 1, 
          "key": "rollcal", 
          "name": "rollPos"
        }, 
        {
          "scale": 1.0, 
          "type": "Input.BUTTON", 
          "id": 6, 
          "key": "exit", 
          "name": "exitapp"
        }
      ]
    }
  }
}

Move the original xbox360_mode1.json to xbox360_mode1.json.orig and create a new one with the content from here.

Note:
The config file can be found in: $INSDIR/crazyflie-pc-client/lib/cfclient/configs/input
for example:

/home/bitcraze/projects/crazyflie-pc-client/lib/cfclient/configs/input

The right command for activating the Xbox Controller is:

echo xbox360_mode1 > /home/bitcraze/controller.conf