From 891b47e11e25619ba0fc539c53c511bb76dc85b4 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Fri, 20 Sep 2019 00:32:42 +1000
Subject: [PATCH] exclude yaw from ff_max_rate_limit

---
 src/main/flight/interpolated_setpoint.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/interpolated_setpoint.c b/src/main/flight/interpolated_setpoint.c
index 497f872aab..2179ed7a49 100644
--- a/src/main/flight/interpolated_setpoint.c
+++ b/src/main/flight/interpolated_setpoint.c
@@ -102,11 +102,11 @@ FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float cur
         DEBUG_SET(DEBUG_FF_LIMIT, 0, value);
     }
 
-    if (axis == FD_ROLL) {
+    if (axis == FD_PITCH) {
         DEBUG_SET(DEBUG_FF_LIMIT, 1, value);
     }
 
-    if (ffMaxRateLimit[axis]) {
+    if (ffMaxRateLimit[axis] && (axis < FD_YAW)) {
         if (fabsf(currentPidSetpoint) <= ffMaxRateLimit[axis]) {
             value = constrainf(value, (-ffMaxRateLimit[axis] - currentPidSetpoint) * Kp, (ffMaxRateLimit[axis] - currentPidSetpoint) * Kp);
         } else {