diff --git a/docs/PID tuning.md b/docs/PID tuning.md
index 99c770d78..8380bd193 100644
--- a/docs/PID tuning.md	
+++ b/docs/PID tuning.md	
@@ -104,4 +104,20 @@ only the gyros. The default is 75%
 For example, at a setting of "100" for "sensitivity_horizon", 100% self-leveling strength will be applied at center
 stick, 50% self-leveling will be applied at 50% stick, and no self-leveling will be applied at 100% stick. If
 sensitivity is decreased to 75, 100% self-leveling will be applied at center stick, 50% will be applied at 63%
-stick, and no self-leveling will be applied at 75% stick and onwards.
\ No newline at end of file
+stick, and no self-leveling will be applied at 75% stick and onwards.
+
+### PID controller 3, "MultiWii23" (default for the ALIENWIIF1 and ALIENWIIF3 targets)
+
+PID Controller 3 is an direct port of the PID controller from MultiWii 2.3 and later.
+
+The algorithm is handling roll and pitch differently to yaw. users with problems on yaw authority should try this one.
+
+For the ALIENWII32 targets the gyroscale is removed for even more yaw authority. This will provide best performance on very small multicopters with brushed motors.
+
+### PID controller 4, "MultiWiiHybrid"
+
+PID Controller 4 is an hybrid version of two MultiWii PID controllers. Roll and pitch is using the MultiWii 2.2 algorithm and yaw is using the 2.3 algorithm. 
+
+This PID controller was initialy implementd for testing purposes but is also performing quite well.
+
+For the ALIENWII32 targets the gyroscale is removed for more yaw authority. This will provide best performance on very small multicopters with brushed motors.
diff --git a/src/main/config/config.c b/src/main/config/config.c
index a357a870d..c5e53d52b 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -470,7 +470,7 @@ static void resetConf(void)
     masterConfig.escAndServoConfig.maxthrottle = 2000;
     masterConfig.motor_pwm_rate = 32000;
     masterConfig.looptime = 2000;
-//    currentProfile->pidController = 3;
+    currentProfile->pidController = 3;
     currentProfile->pidProfile.P8[ROLL] = 36;
     currentProfile->pidProfile.P8[PITCH] = 36;
     currentProfile->failsafeConfig.failsafe_delay = 2;