diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 8de667012..e4702b30d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -185,7 +185,7 @@ static void pidFloat(const pidProfile_t *pidProfile, uint16_t max_angle_inclinat
         float accumulationThreshold = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
         float antiWindupScaler = constrainf(1.0f - (1.5f * (ABS(angleRate[axis]) / accumulationThreshold)), 0.0f, 1.0f);
 
-        errorGyroIf[axis] = constrainf(errorGyroIf[axis] + ITermScale * errorLimiter * RateError * getdT() * antiWindupScaler, -250.0f, 250.0f);
+        errorGyroIf[axis] = constrainf(errorGyroIf[axis] + ITermScale * RateError * getdT() * pidProfile->I8[axis] * antiWindupScaler, -250.0f, 250.0f);
 
         // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
         // I coefficient (I8) moved before integration to make limiting independent from PID settings
@@ -320,7 +320,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
         // is normalized to cycle time = 2048.
         // Prevent Accumulation
         uint16_t resetRate = (axis == YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-        uint16_t dynamicFactor = (1 << 8) - constrain(((ABS((int32_t)angleRate) << 6) / resetRate), 0, 1 << 8);
+        uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
         uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
 
         errorGyroI[axis] = errorGyroI[axis] + ((uint16_t)targetPidLooptime >> 11) * dynamicKi;