Multicopter mixer: When saturating, compute the new yaw value based on

the reduced thrust value

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -334,7 +334,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
 
 			} else {
 				yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
-					       roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;
+					       roll_pitch_scale + (thrust - thrust_reduction) + boost)) / _rotors[i].yaw_scale;
 			}
 		}
 	}