If you make one long stitch, then hold it in place with some tiny stitches, that's called couching. It's a versatile technique. I've gotten much better with practice in holding the long stitch perfectly straight and making the tiny stitches practically disappear, which is a good way to "draw" lines.
You can also give yourself plenty of slack on the long stitch so that you can make it curve as you couch it down. I also use it for small curved letters.
A variant of couching: hold down a whole bundle of straight stitches with longer, more visible stitches.