diff --git a/src/main/config/config.c b/src/main/config/config.c
index 5c7e86d9a..4c66932eb 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -147,10 +147,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->P8[ROLL] = 40;
     pidProfile->I8[ROLL] = 30;
-    pidProfile->D8[ROLL] = 20;
+    pidProfile->D8[ROLL] = 18;
     pidProfile->P8[PITCH] = 40;
     pidProfile->I8[PITCH] = 30;
-    pidProfile->D8[PITCH] = 20;
+    pidProfile->D8[PITCH] = 18;
     pidProfile->P8[YAW] = 95;
     pidProfile->I8[YAW] = 50;
     pidProfile->D8[YAW] = 10;
@@ -178,11 +178,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->P_f[ROLL] = 1.5f;     // new PID with preliminary defaults test carefully
     pidProfile->I_f[ROLL] = 0.4f;
-    pidProfile->D_f[ROLL] = 0.03f;
+    pidProfile->D_f[ROLL] = 0.02f;
     pidProfile->P_f[PITCH] = 1.5f;
     pidProfile->I_f[PITCH] = 0.4f;
-    pidProfile->D_f[PITCH] = 0.03f;
-    pidProfile->P_f[YAW] = 3.5f;
+    pidProfile->D_f[PITCH] = 0.02f;
+    pidProfile->P_f[YAW] = 3.9f;
     pidProfile->I_f[YAW] = 0.9f;
     pidProfile->D_f[YAW] = 0.00f;
     pidProfile->A_level = 5.0f;
@@ -405,7 +405,7 @@ static void resetConf(void)
     masterConfig.boardAlignment.pitchDegrees = 0;
     masterConfig.boardAlignment.yawDegrees = 0;
     masterConfig.acc_hardware = ACC_DEFAULT;     // default/autodetect
-    masterConfig.max_angle_inclination = 500;    // 50 degrees
+    masterConfig.max_angle_inclination = 600;    // 50 degrees
     masterConfig.yaw_control_direction = 1;
     masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 131aa6671..8ef4be26a 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -413,7 +413,7 @@ const clivalue_t valueTable[] = {
     { "align_board_pitch",          VAR_INT16  | MASTER_VALUE,  &masterConfig.boardAlignment.pitchDegrees, -180, 360 },
     { "align_board_yaw",            VAR_INT16  | MASTER_VALUE,  &masterConfig.boardAlignment.yawDegrees, -180, 360 },
 
-    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.max_angle_inclination, 100, 900 },
+    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.max_angle_inclination, 100, 1200 },
 
     { "moron_threshold",            VAR_UINT8  | MASTER_VALUE,  &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, 0, 128 },
     { "imu_dcm_kp",                 VAR_UINT16 | MASTER_VALUE,  &masterConfig.dcm_kp, 0, 20000 },