Methods and apparatus for avoiding or exploiting air drag on an aerial vehicle are disclosed. In embodiments, the methods and apparatus may be implemented in a controller and used to increase the energy efficiency of an aerial vehicle. In the embodiments, at least one parameter associated with a force on an aerial vehicle is determined. A yaw setting for the aerial vehicle is then determined that exploits or avoids air drag on the aerial vehicle for energy efficiency. The yaw setting may be referenced to a yaw based on directionality in the shape of the aerial vehicle. In other embodiments, a drag associated with a force on an aerial vehicle is determined. It is then determined if there is a selected component in the drag based on a desired maneuver of the aerial vehicle. A yaw setting is then determined based on whether the selected component is in the drag.