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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 (
    4159, 4160, 4161, 4162, 4209, 4210, 4211, 
    4212, 4213, 4214, 4215, 3102, 3110, 
    6670, 6685, 6698, 3095, 3101, 3108, 
    6683, 6697, 12594, 12609, 3099, 19, 
    20, 21, 3929, 3930, 3931, 12424, 12554, 
    12536, 12546, 6724, 3100, 3106, 3114, 
    3120, 3125, 3153, 3154, 6672, 6688, 
    6689, 6694, 6702, 6706
  ) 
  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 0.00027

JSON explain

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