iNavFlight · hali9 · Dec 22, 2019 · Dec 25, 2019
diff --git a/docs/Cli.md b/docs/Cli.md
@@ -80,6 +80,7 @@ After restoring it's always a good idea to `dump` or `diff` the settings once ag
 | `led`            | configure leds                                 |
 | `map`            | mapping of rc channel order                    |
 | `motor`          | get/set motor output value                     |
+| `msc`            | Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.|
 | `play_sound`     | index, or none for next                        |
 | `profile`        | index (0 to 2)                                 |
 | `rxrange`        | configure rx channel ranges (end-points) |
@@ -200,6 +201,8 @@ A shorter form is also supported to enable and disable functions using `serial <
 |  nav_rth_altitude  | 1000 | Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters) |
 |  nav_rth_home_altitude  | 0 | Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm] |
 |  nav_rth_abort_threshold  | 50000 | RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm] |
+|  nav_rth_home_offset_distance  | 0 | Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables) |
+|  nav_rth_home_offset_direction | 0 | Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance) |
 |  nav_mc_bank_angle  | 30 | Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude |
 |  nav_mc_hover_thr  | 1500 | Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering. |
 |  nav_mc_auto_disarm_delay  | 2000 |  |
@@ -421,10 +424,10 @@ A shorter form is also supported to enable and disable functions using `serial <
 | dyn_notch_width_percent | 8   | Distance in % of the attenuated frequency for double dynamic filter notched. When set to `0` single dynamic notch filter is used |
 | dyn_notch_range   |   MEDIUM  | Dynamic gyro filter range. Possible values `LOW` `MEDIUM` `HIGH`. `MEDIUM` should work best for 5-6" multirotors. `LOW` should work best with 7" and bigger. `HIGH` should work with everything below 4" |
 | dyn_notch_q       | 120       | Q factor for dynamic notches |
-| dyn_notch_min_hz  | 150       | Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70` | 
+| dyn_notch_min_hz  | 150       | Minimum frequency for dynamic notches. Default value of `150` works best with 5" multirors. Should be lowered with increased size of propellers. Values around `100` work fine on 7" drones. 10" can go down to `60` - `70` |
 |  gyro_stage2_lowpass_hz  | 0 | Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz). Currently experimental |
-|  pidsum_limit  | 500 | A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch/Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |
-|  yaw_p_limit  | 300 |  |
+|  pidsum_limit  | 500 | A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |
+|  pidsum_limit_yaw  | 400 | A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help |
 |  iterm_windup  | 50 | Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter) |
 |  rate_accel_limit_roll_pitch  | 0 | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting.  |
 |  rate_accel_limit_yaw  | 10000 | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting. |

diff --git a/docs/USB_Mass_Storage_(MSC)_mode.md b/docs/USB_Mass_Storage_(MSC)_mode.md
@@ -0,0 +1,93 @@
+## Overview
+
+iNav (after 2.3.0) offers USB MSC (mass storage device class) SD card and internal flash access, meaning you can mount the FC (SD card / internal flash) as an OS file system via USB to read BB logs (and delete them from an SD card).
+
+When MSC mode is used with **internal flash** there are a few differences compared to **SD card** as it's a virtual file system:
+
+* The file system is read-only. In order to delete logs it is necessary to erase the flash as usual (configurator, CLI or other tool).
+* The logs are presented as a single, consolidated file (`inav_all.bbl`) as well as individual logs (`inav_001.bbl` etc.).
+* Other informative files (e.g. `readme.txt`) may also exist in the virtual file system.
+
+
+## Usage
+
+To put the FC in MSC mode:
+
+* Enter the CLI
+* Enter the CLI command `msc` ; the FC will reboot
+* Close the CLI tool (`cliterm`, configurator etc.)
+* Wait for the device to be recognised as USB storage device by the operating system (may take some time, 10-15 seconds perhaps).
+* Copy files off the MSC mounted FC (sd card) (`cp`, file manager)
+* Dismount / eject the FC (sd card) card using the standard OS method
+* Power-cycle the FC to exit MSC mode.
+
+## Performance
+
+Internal flash is quite fast.
+
+For an SD card, reading is quite slow, typically c. 340kBs, for example:
+
+```
+####################
+## Using MSC mode ##
+####################
+# FC is automounted to /run/media/jrh/BBOX-QUAD by the OS
+$ rsync -P /run/media/jrh/BBOX-QUAD/LOGS/LOG00035.TXT /tmp/msclogs/
+LOG00035.TXT
+     55,856,827 100%  339.15kB/s    0:02:40 (xfr#1, to-chk=0/1)
+```
+
+```
+#########################
+## Using a card-reader ##
+#########################
+# SD Card is automounted to /run/media/jrh/BBOX-QUAD by the OS
+$ rsync -P /run/media/jrh/BBOX-QUAD/LOGS/LOG00035.TXT /tmp/sdclogs/
+LOG00035.TXT
+     55,856,827 100%   19.26MB/s    0:00:02 (xfr#1, to-chk=0/1)
+```
+i.e c. 2.5 seconds for the card reader, 2 minutes 40 seconds for MSC (60 times slower). However, if the card is relatively inaccessible, this is a reasonable trade-off
+
+## Comparison and Integrity
+
+The same file (`LOG00035.TXT`, c 55MB) is copied by MSC to `/tmp/msclogs` and directly (SD Card Reader) to `/tmp/sdclogs`.
+
+```
+$ cmp /tmp/{msc,sdc}logs/LOG00035.TXT
+# no differences reported ...
+```
+
+```
+$ md5sum /tmp/{msc,sdc}logs/LOG00035.TXT
+7cd259777ba4f29ecbde2f76882b1840  /tmp/msclogs/LOG00035.TXT
+7cd259777ba4f29ecbde2f76882b1840  /tmp/sdclogs/LOG00035.TXT
+```
+You should also be able to run blackbox utilities (e.g. the iNav specific `blackbox_decode`) without errors on the files, e.g.
+
+```
+$ blackbox_decode --stdout --merge-gps > /dev/null /tmp/msclogs/LOG00035.TXT
+Log 1 of 1, start 36:00.888, end 62:00.851, duration 25:59.963
+
+Statistics
+Looptime           1006 avg            9.2 std dev (0.9%)
+I frames   48405  104.6 bytes avg  5062215 bytes total
+P frames  726064   69.2 bytes avg 50246994 bytes total
+H frames     380   10.0 bytes avg     3800 bytes total
+G frames   15674   21.4 bytes avg   334701 bytes total
+S frames    6198   33.0 bytes avg   204534 bytes total
+Frames    774469   71.4 bytes avg 55309209 bytes total
+Data rate  496Hz  35806 bytes/s     358100 baud
+
+3 frames failed to decode, rendering 4 loop iterations unreadable. 4 iterations are missing in total (4ms, 0.00%)
+774472 loop iterations weren't logged because of your blackbox_rate settings (779980ms, 50.00%)
+```
+## Developer Notes
+
+Providing MSC for a target requires that the `.mk` file includes in `FEATURES` the key `MSC` and at least one of `ONBOARDFLASH` and /or `SDCARD`.
+
+For F4 and F7 targets, `USE_USB_MSC` is set unconditionally in `common.h`; if your target does not support blackbox logging to either SD card or internal flash, you should over-ride this in `target.h`
+```
+#ifdef USE_USB_MSC
+# undef USE_USB_MSC
+#endif
+```
diff --git a/make/mcu/STM32F4.mk b/make/mcu/STM32F4.mk
@@ -84,12 +84,23 @@ USBCDC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
 USBCDC_SRC  = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
 EXCLUDES    = usbd_cdc_if_template.c
 USBCDC_SRC  := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
-VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
+USBMSC_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/msc
+USBMSC_SRC  = $(notdir $(wildcard $(USBMSC_DIR)/src/*.c))
+EXCLUDES    = usbd_storage_template.c
+USBMSC_SRC  := $(filter-out ${EXCLUDES}, $(USBMSC_SRC))
+USBHID_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/hid
+USBHID_SRC  = $(notdir $(wildcard $(USBHID_DIR)/src/*.c))
+USBWRAPPER_DIR  = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/hid_cdc_wrapper
+USBWRAPPER_SRC  = $(notdir $(wildcard $(USBWRAPPER_DIR)/src/*.c))
+VPATH       := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src:$(USBMSC_DIR)/src:$(USBHID_DIR)/src:$(USBWRAPPER_DIR)/src
 
 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
                         $(USBOTG_SRC) \
                         $(USBCORE_SRC) \
-                        $(USBCDC_SRC)
+                        $(USBCDC_SRC) \
+                        $(USBHID_SRC) \
+                        $(USBWRAPPER_SRC) \
+                        $(USBMSC_SRC)
 endif
 
 #CMSIS
@@ -112,6 +123,9 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBOTG_DIR)/inc \
                    $(USBCORE_DIR)/inc \
                    $(USBCDC_DIR)/inc \
+                   $(USBHID_DIR)/inc \
+                   $(USBWRAPPER_DIR)/inc \
+                   $(USBMSC_DIR)/inc \
                    $(USBFS_DIR)/inc \
                    $(CMSIS_DIR)/Core/Include \
                    $(ROOT)/lib/main/STM32F4/Drivers/CMSIS/Device/ST/STM32F4xx \
@@ -184,6 +198,30 @@ VCP_SRC = \
             drivers/usb_io.c
 endif
 
+MSC_SRC = \
+            drivers/usb_msc_f4xx.c \
+            msc/usbd_msc_desc.c \
+            msc/usbd_storage.c
+
+ifneq ($(filter SDCARD,$(FEATURES)),)
+MSC_SRC += \
+            msc/usbd_storage_sd_spi.c
+endif
+
+ifneq ($(filter SDIO,$(FEATURES)),)
+MSC_SRC += \
+            msc/usbd_storage_sdio.c
+MCU_COMMON_SRC += \
+            drivers/sdio_f4xx.c
+endif
+
+ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
+MSC_SRC += \
+            msc/usbd_storage_emfat.c \
+            msc/emfat.c \
+            msc/emfat_file.c
+endif
+
 DSP_LIB := $(ROOT)/lib/main/CMSIS/DSP
 
 DEVICE_FLAGS += -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE -DARM_MATH_CM4
diff --git a/make/mcu/STM32F7.mk b/make/mcu/STM32F7.mk
@@ -78,12 +78,25 @@ USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/Src/*.c))
 EXCLUDES   = usbd_cdc_if_template.c
 USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
 
-VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src:$(USBHID_DIR)/Src
+USBHID_DIR = $(ROOT)/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/HID
+USBHID_SRC = $(notdir $(wildcard $(USBHID_DIR)/Src/*.c))
+
+USBHIDCDC_DIR = $(ROOT)/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/CDC_HID
+USBHIDCDC_SRC = $(notdir $(wildcard $(USBHIDCDC_DIR)/Src/*.c))
+
+USBMSC_DIR = $(ROOT)/lib/main/STM32F7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC
+USBMSC_SRC = $(notdir $(wildcard $(USBMSC_DIR)/Src/*.c))
+EXCLUDES   = usbd_msc_storage_template.c
+USBMSC_SRC := $(filter-out ${EXCLUDES}, $(USBMSC_SRC))
+
+VPATH := $(VPATH):$(USBCDC_DIR)/Src:$(USBCORE_DIR)/Src:$(USBHID_DIR)/Src:$(USBHIDCDC_DIR)/Src:$(USBMSC_DIR)/Src
 
 DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
                         $(USBCORE_SRC) \
                         $(USBCDC_SRC) \
-                        $(USBHID_SRC)
+                        $(USBHID_SRC) \
+                        $(USBHIDCDC_SRC) \
+                        $(USBMSC_SRC)
 
 #CMSIS
 VPATH           := $(VPATH):$(CMSIS_DIR)/Include:$(CMSIS_DIR)/Device/ST/STM32F7xx
@@ -94,6 +107,8 @@ INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(USBCORE_DIR)/Inc \
                    $(USBCDC_DIR)/Inc \
                    $(USBHID_DIR)/Inc \
+                   $(USBHIDCDC_DIR)/Inc \
+                   $(USBMSC_DIR)/Inc \
                    $(CMSIS_DIR)/Core/Include \
                    $(ROOT)/lib/main/STM32F7/Drivers/CMSIS/Device/ST/STM32F7xx/Include \
                    $(ROOT)/src/main/vcp_hal
@@ -167,5 +182,28 @@ MCU_EXCLUDES = \
             drivers/bus_i2c.c \
             drivers/serial_uart.c
 
+MSC_SRC = \
+            drivers/usb_msc_f7xx.c \
+            msc/usbd_storage.c
+
+ifneq ($(filter SDIO,$(FEATURES)),)
+MCU_COMMON_SRC += \
+            drivers/sdio_f7xx.c
+MSC_SRC += \
+            msc/usbd_storage_sdio.c
+endif
+
+ifneq ($(filter SDCARD,$(FEATURES)),)
+MSC_SRC += \
+            msc/usbd_storage_sd_spi.c
+endif
+
+ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
+MSC_SRC += \
+            msc/usbd_storage_emfat.c \
+            msc/emfat.c \
+            msc/emfat_file.c
+endif
+
 DSP_LIB := $(ROOT)/lib/main/CMSIS/DSP
 DEVICE_FLAGS += -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -D__FPU_PRESENT=1 -DUNALIGNED_SUPPORT_DISABLE -DARM_MATH_CM7
diff --git a/make/release.mk b/make/release.mk
@@ -6,7 +6,7 @@ RELEASE_TARGETS += ALIENFLIGHTNGF7
 
 RELEASE_TARGETS += BETAFLIGHTF3 BETAFLIGHTF4
 RELEASE_TARGETS += FF_F35_LIGHTNING FF_FORTINIF4
-RELEASE_TARGETS += KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI
+RELEASE_TARGETS += KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI KAKUTEF7HDV
 
 RELEASE_TARGETS += SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPRACINGF4EVO SPRACINGF7DUAL
 
@@ -15,7 +15,7 @@ RELEASE_TARGETS += OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 DYSF4PRO DYSF4
 RELEASE_TARGETS += OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS
 RELEASE_TARGETS += OMNIBUSF7 OMNIBUSF7V2 OMNIBUSF7NXT YUPIF7
 
-RELEASE_TARGETS += MATEKF405 MATEKF405_SERVOS6 MATEKF405OSD MATEKF722 MATEKF722_HEXSERVO MATEKF722SE MATEKF722MINI MATEKF405SE MATEKF411 MATEKF411_SFTSRL2 MATEKF411_FD_SFTSRL MATEKF411_RSSI MATEKF411SE MATEKF765
+RELEASE_TARGETS += MATEKF405 MATEKF405_SERVOS6 MATEKF405OSD MATEKF722 MATEKF722_HEXSERVO MATEKF722SE MATEKF722MINI MATEKF405SE MATEKF411 MATEKF411_SFTSRL2 MATEKF411_FD_SFTSRL MATEKF411_RSSI MATEKF411SE MATEKF765 MATEKF722PX
 
 RELEASE_TARGETS += FOXEERF405 FOXEERF722DUAL
 

diff --git a/make/source.mk b/make/source.mk
@@ -235,7 +235,8 @@ TARGET_SRC   := $(filter-out $(MCU_EXCLUDES), $(TARGET_SRC))
 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 TARGET_SRC += \
             drivers/flash_m25p16.c \
-            io/flashfs.c
+            io/flashfs.c \
+            $(MSC_SRC)
 endif
 
 ifneq ($(filter SDCARD,$(FEATURES)),)
@@ -245,13 +246,18 @@ TARGET_SRC += \
             drivers/sdcard/sdcard_sdio.c \
             drivers/sdcard/sdcard_standard.c \
             io/asyncfatfs/asyncfatfs.c \
-            io/asyncfatfs/fat_standard.c
+            io/asyncfatfs/fat_standard.c \
+            $(MSC_SRC)
 endif
 
 ifneq ($(filter VCP,$(FEATURES)),)
 TARGET_SRC += $(VCP_SRC)
 endif
 
+ifneq ($(filter MSC,$(FEATURES)),)
+TARGET_SRC += $(MSC_SRC)
+endif
+
 ifneq ($(DSP_LIB),)
 
 INCLUDE_DIRS += $(DSP_LIB)/Include

diff --git a/make/targets.mk b/make/targets.mk
@@ -71,7 +71,7 @@ GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ALIENFLIGHTNGF7 PIXRACER
 GROUP_5_TARGETS := ASGARD32F7 CLRACINGF4AIRV3 DALRCF405 DALRCF722DUAL DYSF4PROV2 F4BY FISHDRONEF4 FOXEERF405 FOXEERF722DUAL FRSKYF3 FRSKYF4 FURYF3 FURYF3_SPIFLASH FURYF4OSD
 GROUP_6_TARGETS := MAMBAF405 OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS AIKONF4
 GROUP_7_TARGETS := KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI KFC32F3_INAV MATEKF411_RSSI MATEKF411_SFTSRL2 MATEKF722MINI MATEKF722SE MATEKF722_HEXSERVO
-GROUP_8_TARGETS := MATEKF765
+GROUP_8_TARGETS := MATEKF765 MATEKF722PX KAKUTEF7HDV
 GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS) $(GROUP_6_TARGETS) $(GROUP_7_TARGETS) $(GROUP_8_TARGETS), $(VALID_TARGETS))
 
 ## targets-group-1   : build some targets

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -1680,7 +1680,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d",                    pidBank()->pid[PID_VEL_Z].P,
                                                                             pidBank()->pid[PID_VEL_Z].I,
                                                                             pidBank()->pid[PID_VEL_Z].D);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit", "%d",                     pidProfile()->yaw_p_limit);
         BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d",                      pidProfile()->yaw_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d",                    pidProfile()->dterm_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d",                  pidProfile()->dterm_soft_notch_hz);
@@ -1710,6 +1709,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("gyro_stage2_lowpass_hz", "%d",          gyroConfig()->gyro_stage2_lowpass_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%f",           (double)pidProfile()->dterm_setpoint_weight);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d",                     pidProfile()->pidSumLimit);
+        BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d",                  pidProfile()->pidSumLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d",        pidProfile()->axisAccelerationLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitRollPitch", "%d",  pidProfile()->axisAccelerationLimitRollPitch);
 #ifdef USE_RPM_FILTER

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
@@ -404,7 +404,7 @@ static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
 
     OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ),
     OSD_SETTING_ENTRY("GYRO SLPF", SETTING_GYRO_LPF_HZ),
-    OSD_SETTING_ENTRY("YAW P LIM", SETTING_YAW_P_LIMIT),
+    OSD_SETTING_ENTRY("YAW SUM LIM", SETTING_PIDSUM_LIMIT_YAW),
     OSD_SETTING_ENTRY("YAW LPF", SETTING_YAW_LPF_HZ),
 
     OSD_BACK_AND_END_ENTRY,