diff --git a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp
index 42a3aa9f38..cc312f5dbc 100644
--- a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp
+++ b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp
@@ -37,20 +37,19 @@
 
 #include <AttitudeControl.hpp>
 
-#include <mathlib/math/Limits.hpp>
 #include <mathlib/math/Functions.hpp>
 
 using namespace matrix;
 
-void AttitudeControl::setProportionalGain(const matrix::Vector3f &proportional_gain)
+void AttitudeControl::setProportionalGain(const matrix::Vector3f &proportional_gain, const float yaw_weight)
 {
 	_proportional_gain = proportional_gain;
+	_yaw_w = math::constrain(yaw_weight, 0.f, 1.f);
 
-	// prepare yaw weight from the ratio between roll/pitch and yaw gains
-	const float roll_pitch_gain = (proportional_gain(0) + proportional_gain(1)) / 2.f;
-	_yaw_w = math::constrain(proportional_gain(2) / roll_pitch_gain, 0.f, 1.f);
-
-	_proportional_gain(2) = roll_pitch_gain;
+	// compensate for the effect of the yaw weight rescaling the output
+	if (_yaw_w > 1e-4f) {
+		_proportional_gain(2) /= _yaw_w;
+	}
 }
 
 matrix::Vector3f AttitudeControl::update(matrix::Quatf q, matrix::Quatf qd, const float yawspeed_feedforward)
diff --git a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp
index 121f559864..82106f8727 100644
--- a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp
+++ b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp
@@ -49,6 +49,7 @@
 #pragma once
 
 #include <matrix/matrix/math.hpp>
+#include <mathlib/math/Limits.hpp>
 
 class AttitudeControl
 {
@@ -59,8 +60,9 @@ public:
 	/**
 	 * Set proportional attitude control gain
 	 * @param proportional_gain 3D vector containing gains for roll, pitch, yaw
+	 * @param yaw_weight A fraction [0,1] deprioritizing yaw compared to roll and pitch
 	 */
-	void setProportionalGain(const matrix::Vector3f &proportional_gain);
+	void setProportionalGain(const matrix::Vector3f &proportional_gain, const float yaw_weight);
 
 	/**
 	 * Set hard limit for output rate setpoints
@@ -80,5 +82,5 @@ public:
 private:
 	matrix::Vector3f _proportional_gain;
 	matrix::Vector3f _rate_limit;
-	float _yaw_w = 0.0f; /**< yaw weight [0,1] to prioritize roll and pitch */
+	float _yaw_w{0.f}; /**< yaw weight [0,1] to prioritize roll and pitch */
 };
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
index 37cc736a54..344b961679 100644
--- a/src/modules/mc_att_control/mc_att_control.hpp
+++ b/src/modules/mc_att_control/mc_att_control.hpp
@@ -139,6 +139,7 @@ private:
 		(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
 		(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
 		(ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p,
+		(ParamFloat<px4::params::MC_YAW_WEIGHT>) _param_mc_yaw_weight,
 
 		(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
 		(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 7694865d13..aeeaeabd30 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -94,7 +94,8 @@ void
 MulticopterAttitudeControl::parameters_updated()
 {
 	// Store some of the parameters in a more convenient way & precompute often-used values
-	_attitude_control.setProportionalGain(Vector3f(_param_mc_roll_p.get(), _param_mc_pitch_p.get(), _param_mc_yaw_p.get()));
+	_attitude_control.setProportionalGain(Vector3f(_param_mc_roll_p.get(), _param_mc_pitch_p.get(), _param_mc_yaw_p.get()),
+					      _param_mc_yaw_weight.get());
 
 	// angular rate limits
 	using math::radians;
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 ce18646183..b616e6ac2f 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -81,6 +81,25 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
  */
 PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
 
+/**
+ * Yaw weight
+ *
+ * A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
+ * Deprioritizing yaw is necessary because multicopters have much less control authority
+ * in yaw compared to the other axes and it makes sense because yaw is not critical for
+ * stable hovering or 3D navigation.
+ *
+ * For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.1
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_YAW_WEIGHT, 0.4f);
+
 /**
  * Max roll rate
  *