MC attitude control: Limit yaw rate further to avoid mixer saturation in the first place

src/modules/mc_att_control/mc_att_control_params.c

@@ -232,14 +232,16 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 360.0f);
 /**
  * Max yaw rate
  *
- * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ * Limit for yaw rate, has effect for large rotations in autonomous mode,
+ * to avoid large control output and mixer saturation. A value of significantly
+ * over 60 degrees per second can already lead to mixer saturation.
  *
  * @unit deg/s
  * @min 0.0
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 60.0f);
 
 /**
  * Max acro roll rate