diff --git a/src/main/config/config.c b/src/main/config/config.c
index 893b451ae..9b56e39b0 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -179,8 +179,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->yaw_lpf_hz = 0.0f;
     pidProfile->dterm_average_count = 4;
-    pidProfile->rollPitchItermResetRate = 0;
-    pidProfile->yawItermResetRate = 0;
+    pidProfile->rollPitchItermResetRate = 200;
+    pidProfile->yawItermResetRate = 50;
     pidProfile->dterm_lpf_hz = 70.0f;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 08470d5b1..65907ec00 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -204,22 +204,20 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate I component.
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f);
 
-        if (pidProfile->rollPitchItermResetRate && axis != YAW) {
-            if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
-        }
-
-        if (pidProfile->yawItermResetRate && axis == YAW) {
-            if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
-        }
-
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            if (antiWindupProtection || motorLimitReached) {
-                errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
+        if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) {
+            if (axis == YAW) {
+                if (ABS(gyroRate) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
             } else {
-                errorGyroIfLimit[axis] = ABS(errorGyroIf[axis]);
+                if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
             }
         }
 
+        if (antiWindupProtection || motorLimitReached) {
+            errorGyroIf[axis] = constrainf(errorGyroIf[axis], -errorGyroIfLimit[axis], errorGyroIfLimit[axis]);
+        } else {
+            errorGyroIfLimit[axis] = ABS(errorGyroIf[axis]);
+        }
+
         // 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
         ITerm = errorGyroIf[axis];
@@ -299,12 +297,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
         }
 
         // Anti windup protection
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            if (antiWindupProtection || motorLimitReached) {
-                errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
-            } else {
-                errorGyroILimit[axis] = ABS(errorGyroI[axis]);
-            }
+        if (antiWindupProtection || motorLimitReached) {
+            errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
+        } else {
+            errorGyroILimit[axis] = ABS(errorGyroI[axis]);
         }
 
         ITerm = (errorGyroI[axis] >> 7) * pidProfile->I8[axis] >> 6;   // 16 bits is ok here 16000/125 = 128 ; 128*250 = 32000
@@ -495,22 +491,20 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         // I coefficient (I8) moved before integration to make limiting independent from PID settings
         errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
 
-        if (pidProfile->rollPitchItermResetRate && axis != YAW) {
-            if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
-        }
-
-        if (pidProfile->yawItermResetRate && axis == YAW) {
-            if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = 0;
-        }
-
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
-            if (antiWindupProtection || motorLimitReached) {
-                errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
+        if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) {
+            if (axis == YAW) {
+                if (ABS(gyroRate / 4) >= pidProfile->yawItermResetRate) errorGyroI[axis] = 0;
             } else {
-                errorGyroILimit[axis] = ABS(errorGyroI[axis]);
+                if (ABS(gyroRate / 4) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = 0;
             }
         }
 
+        if (antiWindupProtection || motorLimitReached) {
+            errorGyroI[axis] = constrain(errorGyroI[axis], -errorGyroILimit[axis], errorGyroILimit[axis]);
+        } else {
+            errorGyroILimit[axis] = ABS(errorGyroI[axis]);
+        }
+
         ITerm = errorGyroI[axis] >> 13;
 
         //-----calculate D-term
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 857138381..a30fdfdf1 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -67,9 +67,9 @@ typedef struct pidProfile_s {
 
     float dterm_lpf_hz;                     // Delta Filter in hz
     float yaw_lpf_hz;                       // Additional yaw filter when yaw axis too noisy
-    uint8_t rollPitchItermResetRate;        // Experimental threshold for resetting iterm for pitch and roll on certain rates
+    uint16_t rollPitchItermResetRate;        // Experimental threshold for resetting iterm for pitch and roll on certain rates
     uint16_t yawItermResetRate;              // Experimental threshold for resetting iterm for yaw on certain rates
-    uint16_t deltaMethod;                    // Alternative delta Calculation
+    uint8_t deltaMethod;                    // Alternative delta Calculation
     uint16_t yaw_p_limit;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 1e178c10d..f5fac205a 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -729,8 +729,8 @@ const clivalue_t valueTable[] = {
     { "pid_delta_method",           VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.deltaMethod, .config.lookup = { TABLE_DELTA_METHOD } },
     { "dterm_lpf_hz",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
     { "dterm_average_count",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_average_count, .config.minmax = {0, 12 } },
-    { "roll_pitch_iterm_reset_deg", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {0, 1000 } },
-    { "yaw_iterm_reset_deg",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {0, 1000 } },
+    { "iterm_reset_degrees",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
+    { "yaw_iterm_reset_degrees",    VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
     { "yaw_lpf_hz",                 VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },