Drop yaw_jump_prevention_limit

src/main/fc/fc_msp.c

@@ -1165,7 +1165,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, 0); //Legacy, no longer in use async processing value
         sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
         sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
-        sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
+        sbufWriteU16(dst, 0);
         sbufWriteU8(dst, gyroConfig()->gyro_lpf);
         sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
         sbufWriteU8(dst, 0); //reserved
@@ -1398,7 +1398,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP2_INAV_MIXER:
         sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
-        sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
+        sbufWriteU16(dst, 0);
         sbufWriteU8(dst, mixerConfig()->platformType);
         sbufWriteU8(dst, mixerConfig()->hasFlaps);
         sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
@@ -2088,10 +2088,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             sbufReadU16(src);  //Legacy, no longer in use async processing value
             pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
             sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
-            mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
+            sbufReadU16(src); //Legacy yaw_jump_prevention_limit
             gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
             accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
-            sbufReadU8(src); //reserved
+            sbufReadU8(src); //reserved 
             sbufReadU8(src); //reserved
             sbufReadU8(src); //reserved
             sbufReadU8(src); //reserved
@@ -2733,7 +2733,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP2_INAV_SET_MIXER:
         mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
-        mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
+        sbufReadU16(src); // Was yaw_jump_prevention_limit
         mixerConfigMutable()->platformType = sbufReadU8(src);
         mixerConfigMutable()->hasFlaps = sbufReadU8(src);
         mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);

src/main/fc/settings.yaml

@@ -685,9 +685,6 @@ groups:
       - name: yaw_motor_direction
         min: -1
         max: 1
-      - name: yaw_jump_prevention_limit
-        min: YAW_JUMP_PREVENTION_LIMIT_LOW
-        max: YAW_JUMP_PREVENTION_LIMIT_HIGH
       - name: platform_type
         field: platformType
         type: uint8_t

src/main/flight/mixer.c

@@ -70,11 +70,10 @@ PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
     .neutral3d = 1460
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 2);
 
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .yaw_motor_direction = 1,
-    .yaw_jump_prevention_limit = 200,
     .platformType = PLATFORM_MULTIROTOR,
     .hasFlaps = false,
     .appliedMixerPreset = -1, //This flag is not available in CLI and used by Configurator only
@@ -291,11 +290,6 @@ void FAST_CODE NOINLINE mixTable(const float dT)
         input[ROLL] = axisPID[ROLL];
         input[PITCH] = axisPID[PITCH];
         input[YAW] = axisPID[YAW];
-
-        if (motorCount >= 4 && mixerConfig()->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
-            // prevent "yaw jump" during yaw correction
-            input[YAW] = constrain(input[YAW], -mixerConfig()->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig()->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
-        }
     }
 
     // Initial mixer concept by bdoiron74 reused and optimized for Air Mode

src/main/flight/mixer.h

@@ -64,7 +64,6 @@ PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
 
 typedef struct mixerConfig_s {
     int8_t yaw_motor_direction;
-    uint16_t yaw_jump_prevention_limit;      // make limit configurable (original fixed value was 100)
     uint8_t platformType;
     bool hasFlaps;
     int16_t appliedMixerPreset;

src/main/target/FALCORE/config.c

@@ -98,8 +98,6 @@ void targetConfiguration(void)
     boardAlignmentMutable()->pitchDeciDegrees = 165;
     boardAlignmentMutable()->yawDeciDegrees = 0;
 
-    mixerConfigMutable()->yaw_jump_prevention_limit = 200;
-
     imuConfigMutable()->small_angle = 30;
 
     gpsConfigMutable()->provider = GPS_UBLOX;