# How to Fix FPV Drone Yaw Washout on Punch-Outs
You punch the throttle, the quad rockets upward — and suddenly it spins uncontrollably on the yaw axis. Yaw washout is one of the most frustrating issues in FPV, and it can cause crashes at the worst possible moment. This guide explains why it happens and exactly how to fix it.
## What Is Yaw Washout?
Yaw washout occurs when one or more motors reach 100% throttle during a punch-out, leaving no headroom for yaw authority. Since yaw is controlled by differential motor torque (speeding up two motors and slowing down the opposite two), a motor already at maximum output cannot speed up further — so yaw control is lost.
## Why Does Yaw Washout Happen?
Yaw authority depends on having enough throttle headroom across all four motors. During aggressive punch-outs, the flight controller sends high throttle to all motors simultaneously. If your throttle limit is already near maximum, the motors that need to spin faster for yaw correction simply cannot.
| Root Cause | Explanation | How to Diagnose |
|————|————-|—————–|
| High motor output limit | Motors max out with no yaw headroom | Check Blackbox: motors hitting 100% during punch-out |
| Aggressive throttle curve | Too much throttle mid-stick | Review Betaflight throttle settings |
| Low battery voltage | Sag reduces available RPM ceiling | Check OSD voltage during punch-out |
| Heavy AUW (All-Up Weight) | Heavier quad needs more throttle to hover | Weigh your drone with battery |
| Incorrect I-term accumulation | I-term windup during sustained punch-out | Blackbox: unusual I-term values on yaw |
## Step-by-Step Fixes
### Step 1: Reduce Motor Output Limit
In Betaflight PID Tuning tab, lower the **Motor Output Limit** from 100% to 95% or even 90%. This reserves headroom for yaw control at the cost of a tiny amount of peak thrust.
### Step 2: Enable Dynamic Idle
Dynamic Idle (Betaflight 4.3+) keeps motors spinning at a minimum RPM even at zero throttle, improving yaw authority during zero-throttle maneuvers like inverted hang time.
Set Dynamic Idle Value to 35-45 (RPM x 100) in the PID Tuning tab.
### Step 3: Adjust Throttle Limit
Set `throttle_limit_type = SCALE` and `throttle_limit_percent = 90` in the CLI. This caps maximum throttle at 90%, ensuring yaw headroom.
“`
set throttle_limit_type = SCALE
set throttle_limit_percent = 90
save
“`
### Step 4: Check D-term and P-term Balance on Yaw
Yaw PID tuning is often overlooked. Default Betaflight yaw PIDs are conservative. Try these values as a starting point for 5-inch builds:
| Parameter | Default | Suggested |
|———–|———|———–|
| Yaw P | 45 | 50-55 |
| Yaw I | 45 | 50-55 |
| Yaw D | 0 | 0-5 |
### Step 5: Reduce All-Up Weight
A lighter quad needs less throttle to hover and punch out, leaving more yaw headroom. Consider:
– Lighter battery (1300mAh instead of 1500mAh)
– Removing unnecessary accessories (GoPro mount if not filming)
– Lighter frame or components
### Step 6: Higher KV Motors or Higher Cell Count
If you consistently push your motors past 90% on punch-outs, consider upgrading to higher KV motors or a higher cell count battery (4S → 6S) for more RPM headroom. For 5-inch freestyle builds:
| Configuration | Typical Motor KV | Yaw Washout Risk |
|————–|——————|——————|
| 4S, 2306 2450KV | 2450KV | Higher |
| 4S, 2306 2750KV | 2750KV | Medium |
| 6S, 2306 1750KV | 1750KV | Lower |
| 6S, 2207 1950KV | 1950KV | Lowest |
## Yaw Authority Upgrade: ESC and Motor Combo
A responsive ESC paired with quality motors makes a significant difference in overall yaw authority. The latest BLHeli_32 ESCs running at 48kHz PWM provide cleaner torque delivery across the entire throttle range.
For a reliable high-performance combo, check out the motor and ESC bundles at [uavmodel.com](https://uavmodel.com) — matched sets with verified compatibility to reduce tuning headaches.