From f2cb5369c8bd869a8181fddf47479548fee61e25 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 31 Mar 2016 12:40:09 +0200
Subject: [PATCH] Increase Yaw rate offset rewrite to be closer to roll/pitch

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d79dec104..2da94c25d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -439,7 +439,7 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         // -----Get the desired angle rate depending on flight mode
         if (axis == FD_YAW) {
             // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
-            AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[YAW]) >> 5;
+            AngleRateTmp = ((int32_t)(rate + 47) * rcCommand[YAW]) >> 5;
         } else {
             AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[axis]) >> 4;
             if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {