diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index fa6c85f8e..9cea9bad7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -125,25 +125,6 @@ void initFilters(const pidProfile_t *pidProfile)
     }
 }
 
-        } else {
-            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
-
-            axisPID[axis] = lrintf(PTerm + ITerm);
-
-            DTerm = 0.0f; // needed for blackbox
-        } else {
-            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
-
-            axisPID[axis] = PTerm + ITerm;
-
-            if (motorCount >= 4) {
-                int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
-
-                // prevent "yaw jump" during yaw correction
-                axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
-            }
-
-            DTerm = 0; // needed for blackbox
 void pidSetController(pidControllerType_e type)
 {
     switch (type) {