This video has alot of focus on the flying changes and shows the work done on getting the changes each and every time, on the aid and not late behind. Arthur uses a few different exercises that would be appropriate for engaging and asking for the flying change in a rhythmical and routine way. If late behind or timing is incorrect, Arthur goes into detail regarding what he sees is happening that is causing this problem. Additionally, there is a lovely preparational quarter turn exercise that is a very good intro to asking for a full walk pirouette.
focus on half pass and walk pirouettes