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SELECT 
  cscart_ult_product_prices.product_id, 
  MIN(
    IF(
      cscart_ult_product_prices.percentage_discount = 0, 
      cscart_ult_product_prices.price, 
      cscart_ult_product_prices.price - (
        cscart_ult_product_prices.price * cscart_ult_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_ult_product_prices 
WHERE 
  cscart_ult_product_prices.product_id IN (
    5940, 5941, 5942, 5943, 5944, 5945, 5946, 
    5947, 5948, 6021, 6022, 6023, 6024, 
    6025, 6026, 6027, 6028, 6029, 6030, 
    6031, 6032, 6033, 6034, 6035, 6036, 
    6037, 6038, 6111, 6112, 6113, 6114, 
    6115, 6116, 6117, 6118, 6119, 6201, 
    6202, 6203, 6204, 6205, 6206, 6207, 
    6208, 3033, 3034, 3035, 3036
  ) 
  AND cscart_ult_product_prices.lower_limit = 1 
  AND cscart_ult_product_prices.company_id = 1 
  AND cscart_ult_product_prices.usergroup_id IN (0, 0, 1) 
GROUP BY 
  cscart_ult_product_prices.product_id

Query time 0.00025

JSON explain

{
  "query_block": {
    "select_id": 1,
    "message": "no matching row in const table"
  }
}