diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index fabe12703f..0acb4088f4 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -11,7 +11,6 @@ sh /etc/init.d/rc.mc_defaults
 
 if [ $AUTOCNF == yes ]
 then
-	# TODO review MC_YAWRATE_I
 	param set MC_ROLL_P 6.5
 	param set MC_ROLLRATE_P 0.1
 	param set MC_ROLLRATE_I 0.05
diff --git a/Tools/px4airframes/srcscanner.py b/Tools/px4airframes/srcscanner.py
index c1f280668d..cb31906a30 100644
--- a/Tools/px4airframes/srcscanner.py
+++ b/Tools/px4airframes/srcscanner.py
@@ -16,10 +16,9 @@ class SourceScanner(object):
         extensions = tuple(parser.GetSupportedExtensions())
         for dirname, dirnames, filenames in os.walk(srcdir):
             for filename in filenames:
-                if filename.endswith(extensions):
-                    path = os.path.join(dirname, filename)
-                    if not self.ScanFile(path, parser):
-                        return False
+                path = os.path.join(dirname, filename)
+                if not self.ScanFile(path, parser):
+                    return False
         return True
 
     def ScanFile(self, path, parser):
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 42c7bc3d04..9af68a4e1e 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/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
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
index c3b71715bb..bb7f7360e4 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
@@ -56,7 +56,7 @@
 #define PARAM_MP_YAWRATE_I_DEFAULT 0.0f
 #define PARAM_MP_YAWRATE_D_DEFAULT 0.0f
 #define PARAM_MP_YAW_FF_DEFAULT 0.5f
-#define PARAM_MP_YAWRATE_MAX_DEFAULT 120.0f
+#define PARAM_MP_YAWRATE_MAX_DEFAULT 60.0f
 #define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f
 #define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f
 #define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f