diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 710524af2..08c4150f0 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1280,7 +1280,6 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d",                   currentPidProfile->dterm_notch_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d",               currentPidProfile->dterm_notch_cutoff);
         BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent:%d",          currentPidProfile->itermWindupPointPercent);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d",                      currentPidProfile->yaw_p_limit);
         BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d",              currentPidProfile->dterm_average_count);
         BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d",            currentPidProfile->vbatPidCompensation);
         BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 currentPidProfile->pidAtMinThrottle);
@@ -1292,6 +1291,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              currentPidProfile->dtermSetpointWeight);
         BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                castFloatBytesToInt(currentPidProfile->yawRateAccelLimit));
         BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   castFloatBytesToInt(currentPidProfile->rateAccelLimit));
+        BLACKBOX_PRINT_HEADER_LINE("pidSumLimit:%d",                      castFloatBytesToInt(currentPidProfile->pidSumLimit));
+        BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw:%d",                   castFloatBytesToInt(currentPidProfile->pidSumLimitYaw));
         // End of Betaflight controller parameters
 
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         rcControlsConfig()->deadband);
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index ccbf646a4..bd9643679 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -343,7 +343,6 @@ static uint16_t cmsx_dterm_lpf_hz;
 static uint16_t cmsx_dterm_notch_hz;
 static uint16_t cmsx_dterm_notch_cutoff;
 static uint16_t cmsx_yaw_lpf_hz;
-static uint16_t cmsx_yaw_p_limit;
 
 static long cmsx_FilterPerProfileRead(void)
 {
@@ -352,7 +351,6 @@ static long cmsx_FilterPerProfileRead(void)
     cmsx_dterm_notch_hz =     pidProfile->dterm_notch_hz;
     cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff;
     cmsx_yaw_lpf_hz =         pidProfile->yaw_lpf_hz;
-    cmsx_yaw_p_limit =        pidProfile->yaw_p_limit;
 
     return 0;
 }
@@ -366,7 +364,6 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
     pidProfile->dterm_notch_hz =     cmsx_dterm_notch_hz;
     pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
     pidProfile->yaw_lpf_hz =         cmsx_yaw_lpf_hz;
-    pidProfile->yaw_p_limit =        cmsx_yaw_p_limit;
 
     return 0;
 }
@@ -379,7 +376,6 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] =
     { "DTERM NF",   OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_hz,       0, 500, 1 }, 0 },
     { "DTERM NFCO", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_notch_cutoff,   0, 500, 1 }, 0 },
     { "YAW LPF",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_lpf_hz,           0, 500, 1 }, 0 },
-    { "YAW P LIM",  OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_yaw_p_limit,        100, 500, 1 }, 0 },
 
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 63d9498e7..8a92cbf62 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1021,8 +1021,8 @@ static const clivalue_t valueTable[] = {
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1,  1 } },
 
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1,  1 } },
-    { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
     { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, &pidProfiles(0)->pidSumLimit, .config.minmax = { 0.1, 1.0 } },
+    { "pidsum_limit_yaw",           VAR_FLOAT  | PROFILE_VALUE, &pidProfiles(0)->pidSumLimitYaw, .config.minmax = { 0.1, 1.0 } },
 #ifdef USE_SERVOS
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->dev.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 3b9a730aa..61432ca42 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -230,8 +230,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->I8[PIDVEL] = 55;
     pidProfile->D8[PIDVEL] = 75;
 
-    pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->pidSumLimit = PIDSUM_LIMIT;
+    pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
     pidProfile->yaw_lpf_hz = 0;
     pidProfile->itermWindupPointPercent = 50;
     pidProfile->dterm_filter_type = FILTER_BIQUAD;
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index dc13cf915..f9ba6f96b 100755
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1150,7 +1150,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
     case MSP_PID_ADVANCED:
         sbufWriteU16(dst, 0);
         sbufWriteU16(dst, 0);
-        sbufWriteU16(dst, currentPidProfile->yaw_p_limit);
+        sbufWriteU16(dst, 0); // was pidProfile.yaw_p_limit
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
         sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
@@ -1540,7 +1540,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
     case MSP_SET_PID_ADVANCED:
         sbufReadU16(src);
         sbufReadU16(src);
-        currentPidProfile->yaw_p_limit = sbufReadU16(src);
+        sbufReadU16(src); // was pidProfile.yaw_p_limit
         sbufReadU8(src); // reserved
         currentPidProfile->vbatPidCompensation = sbufReadU8(src);
         currentPidProfile->setpointRelaxRatio = sbufReadU8(src);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index b3a59d931..b5b5a28c1 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -516,9 +516,9 @@ void mixTable(pidProfile_t *pidProfile)
 
     float scaledAxisPIDf[3];
     // Limit the PIDsum
-    for (int axis = 0; axis < 3; axis++) {
-        scaledAxisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
-    }
+    scaledAxisPIDf[FD_ROLL] = constrainf(axisPIDf[FD_ROLL] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
+    scaledAxisPIDf[FD_PITCH] = constrainf(axisPIDf[FD_PITCH] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
+    scaledAxisPIDf[FD_YAW] = constrainf(axisPIDf[FD_YAW] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
 
     // Calculate voltage compensation
     const float vbatCompensationFactor = pidProfile->vbatPidCompensation  ? calculateVbatPidCompensation() : 1.0f;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 48679fb7e..2ce01ec70 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -109,8 +109,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .I8[PIDVEL] = 55,
         .D8[PIDVEL] = 75,
 
-        .yaw_p_limit = YAW_P_LIMIT_MAX,
         .pidSumLimit = PIDSUM_LIMIT,
+        .pidSumLimitYaw = PIDSUM_LIMIT_YAW,
         .yaw_lpf_hz = 0,
         .itermWindupPointPercent = 50,
         .dterm_filter_type = FILTER_BIQUAD,
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 1c04c2a7b..e17ba102b 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -24,9 +24,8 @@
 #define PID_CONTROLLER_BETAFLIGHT   1
 #define PID_MIXER_SCALING           1000.0f
 #define PID_SERVO_MIXER_SCALING     0.7f
-#define YAW_P_LIMIT_MIN             100                 // Maximum value for yaw P limiter
-#define YAW_P_LIMIT_MAX             500                 // Maximum value for yaw P limiter
 #define PIDSUM_LIMIT                0.5f
+#define PIDSUM_LIMIT_YAW            0.4f
 
 // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
 #define PTERM_SCALE 0.032029f
@@ -69,8 +68,8 @@ typedef struct pidProfile_s {
     uint16_t dterm_notch_hz;                // Biquad dterm notch hz
     uint16_t dterm_notch_cutoff;            // Biquad dterm notch low cutoff
     uint8_t itermWindupPointPercent;        // Experimental ITerm windup threshold, percent motor saturation
-    uint16_t yaw_p_limit;
     float pidSumLimit;
+    float pidSumLimitYaw;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.