From 363c756c0013b40f88ea30cdda9a4b11896f45be Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 11 Aug 2026 01:56:41 +0300
Subject: [PATCH] Fix windup for yaw rate

---
 flix/control.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flix/control.ino b/flix/control.ino
index 16447cb..fbf8dfb 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -22,7 +22,7 @@ float thrustTarget;
 
 PID rollRatePID(0.05, 0.2, 0.001, 0.3, 0.2);
 PID pitchRatePID(0.05, 0.2, 0.001, 0.3, 0.2);
-PID yawRatePID(0.3);
+PID yawRatePID(0.3, 0, 0, 0.3);
 PID rollPID(6);
 PID pitchPID(6);
 PID yawPID(3);