diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8fd39b8e8..17ef0c448 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -429,7 +429,7 @@ const clivalue_t valueTable[] = {
 
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, -1, 1 },
 
-    { "pid_at_min_throttle",        VAR_UINT8  | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
+    { "pid_at_min_throttle",        VAR_UINT8  | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 5 },
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, -1, 1 },
     { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH },
 #ifdef USE_SERVOS
diff --git a/src/main/mw.c b/src/main/mw.c
index 15e8f3723..5026dfd85 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -539,6 +539,7 @@ void executePeriodicTasks(bool skipBaroUpdate)
 void processRx(void)
 {
     static bool armedBeeperOn = false;
+    static uint32_t pidResetErrorGyroTimeout = 0;
 
     calculateRxChannelsAndUpdateFailsafe(currentTime);
 
@@ -563,7 +564,19 @@ void processRx(void)
 
     if (throttleStatus == THROTTLE_LOW) {
         pidResetErrorAngle();
-        pidResetErrorGyro();
+        /*
+         * Additional code to prevent Iterm reset below min_check. pid_at_min_throttle higher than 1 will
+         * activate the feature. Experimental yet. Minimum configuration is 2 sec and maxx is 5seconds.
+         */
+        if (masterConfig.mixerConfig.pid_at_min_throttle > 1) {
+            if (pidResetErrorGyroTimeout < millis()) {
+                pidResetErrorGyro();
+            } else {
+                pidResetErrorGyroTimeout = millis() + (masterConfig.mixerConfig.pid_at_min_throttle * 1000);
+            }
+        } else {
+            pidResetErrorGyro();
+        }
     }
 
     // When armed and motors aren't spinning, do beeps and then disarm