diff --git a/src/main/config/config.c b/src/main/config/config.c
index 956aae97f..dcb0ce85c 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -245,8 +245,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     // Betaflight PID controller parameters
     pidProfile->ptermSetpointWeight = 75;
     pidProfile->dtermSetpointWeight = 120;
-    pidProfile->pidMaxVelocityYaw = 220;
-    pidProfile->pidMaxVelocityRollPitch = 0;
+    pidProfile->yawRateAccelLimit = 220;
+    pidProfile->rateAccelLimit = 0;
     pidProfile->toleranceBand = 15;
     pidProfile->toleranceBandReduction = 40;
     pidProfile->zeroCrossAllowanceCount = 2;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e14742341..0f91875e2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -187,8 +187,8 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
             Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
             b[axis] = pidProfile->ptermSetpointWeight / 100.0f;
             c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
-            yawMaxVelocity = pidProfile->pidMaxVelocityYaw * 1000 * getdT();
-            rollPitchMaxVelocity = pidProfile->pidMaxVelocityRollPitch * 1000 * getdT();
+            yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
+            rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
 
             configP[axis] = pidProfile->P8[axis];
             configI[axis] = pidProfile->I8[axis];
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 9aa625a33..c12404ec5 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -100,8 +100,8 @@ typedef struct pidProfile_s {
     uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
     uint8_t ptermSetpointWeight;            // Setpoint weight for Pterm (lower means more PV tracking)
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
-    uint16_t pidMaxVelocityYaw;             // velocity yaw limiter for pid controller deg/sec/ms
-    uint16_t pidMaxVelocityRollPitch;       // velocity roll/pitch limiter for pid controller deg/sec/ms
+    uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
+    uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
 
 #ifdef GTUNE
     uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 19238347a..463ffb72d 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -832,8 +832,8 @@ const clivalue_t valueTable[] = {
     { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
     { "pterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
-    { "max_yaw_acceleration",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 1000 } },
-    { "max_acceleration",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityRollPitch, .config.minmax = {0, 1000 } },
+    { "yaw_rate_acceleration_limit",VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "rate_acceleration_limit",    VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
 
     { "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 6cf6a5005..a2f472f45 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1268,8 +1268,8 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(currentProfile->pidProfile.toleranceBand);
         serialize8(currentProfile->pidProfile.toleranceBandReduction);
         serialize8(currentProfile->pidProfile.itermThrottleGain);
-        serialize16(currentProfile->pidProfile.pidMaxVelocityRollPitch);
-        serialize16(currentProfile->pidProfile.pidMaxVelocityYaw);
+        serialize16(currentProfile->pidProfile.rateAccelLimit);
+        serialize16(currentProfile->pidProfile.yawRateAccelLimit);
         break;
     case MSP_SENSOR_CONFIG:
         headSerialReply(3);
@@ -1858,8 +1858,8 @@ static bool processInCommand(void)
         currentProfile->pidProfile.toleranceBand = read8();
         currentProfile->pidProfile.toleranceBandReduction = read8();
         currentProfile->pidProfile.itermThrottleGain = read8();
-        currentProfile->pidProfile.pidMaxVelocityRollPitch = read16();
-        currentProfile->pidProfile.pidMaxVelocityYaw = read16();
+        currentProfile->pidProfile.rateAccelLimit = read16();
+        currentProfile->pidProfile.yawRateAccelLimit = read16();
         break;
     case MSP_SET_SENSOR_CONFIG:
         masterConfig.acc_hardware = read8();