Version 2.5.3 / Configurable yaw_p_limit for all pid controllers

src/main/flight/mixer.c

@@ -785,11 +785,6 @@ void mixTable(void)
 
     bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
 
-    if (motorLimitReached) {
-        axisPID[YAW] *= constrain(qPercent(mixReduction), 40, 100);
-        if (debugMode == DEBUG_AIRMODE) debug[0] = axisPID[YAW];
-    }
-
     if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
         acroPlusApply();
     }

src/main/flight/pid.c

@@ -213,6 +213,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate P component
         PTerm = RateError * pidProfile->P_f[axis] * PIDweight[axis] / 100;
 
+        // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
+        if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
+            PTerm = constrainf(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
+        }
+
         // -----calculate I component.
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * dT * pidProfile->I_f[axis] * 10, -250.0f, 250.0f);
 
@@ -407,7 +412,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
 
     PTerm = (int32_t)error * pidProfile->P8[FD_YAW] >> 6; // TODO: Bitwise shift on a signed integer is not recommended
 
-    // Constrain YAW by D value if not servo driven in that case servolimits apply
+    // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
     if(motorCount >= 4 && pidProfile->yaw_p_limit < YAW_P_LIMIT_MAX) {
         PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
     }
@@ -504,6 +509,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         // -----calculate P component
         PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
 
+        // Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
+        if((motorCount >= 4 && pidProfile->yaw_p_limit) && axis == YAW) {
+            PTerm = constrain(PTerm, -pidProfile->yaw_p_limit, pidProfile->yaw_p_limit);
+        }
+
         // -----calculate I component
         // there should be no division before accumulating the error to integrator, because the precision would be reduced.
         // Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.

src/main/flight/pid.h

@@ -20,7 +20,7 @@
 
 #define GYRO_I_MAX 256                      // Gyro I limiter
 #define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
-#define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
+#define YAW_P_LIMIT_MAX 300                 // Maximum value for yaw P limiter
 
 typedef enum {
     PIDROLL,

src/main/version.h

@@ -17,7 +17,7 @@
 
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
 #define FC_VERSION_MINOR            5  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      2  // increment when a bug is fixed
+#define FC_VERSION_PATCH_LEVEL      3  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)