diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index a2837d98a..b4cad26f4 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -176,15 +176,13 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_notch_cutoff = 160;
     pidProfile->vbatPidCompensation = 0;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
-    pidProfile->max_angle_inclination = 70.0f;    // 70 degrees
-
-    // Betaflight PID controller parameters
+    pidProfile->levelAngleLimit = 70.0f;    // 70 degrees
     pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
     pidProfile->yawRateAccelLimit = 20.0f;
     pidProfile->rateAccelLimit = 0.0f;
     pidProfile->itermThrottleThreshold = 350;
-    pidProfile->levelSensitivity = 2.0f;
+    pidProfile->levelSensitivity = 100.0f;
 }
 
 void resetProfile(profile_t *profile)
diff --git a/src/main/fc/fc_main.c b/src/main/fc/fc_main.c
index 5aca65f7d..e1bfee8b5 100644
--- a/src/main/fc/fc_main.c
+++ b/src/main/fc/fc_main.c
@@ -97,8 +97,7 @@ static float throttlePIDAttenuation;
 uint16_t filteredCycleTime;
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-static float setpointRate[3];
-static float rcDeflection[3];
+static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
 
 float getThrottlePIDAttenuation(void) {
     return throttlePIDAttenuation;
@@ -112,6 +111,10 @@ float getRcDeflection(int axis) {
     return rcDeflection[axis];
 }
 
+float getRcDeflectionAbs(int axis) {
+    return rcDeflectionAbs[axis];
+}
+
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
     accelerometerConfig()->accelerometerTrims.values.roll += rollAndPitchTrimsDelta->values.roll;
@@ -149,7 +152,8 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
     rcCommandf = rc / 500.0f;
-    rcDeflection[axis] = ABS(rcCommandf);
+    rcDeflection[axis] = rcCommandf;
+    rcDeflectionAbs[axis] = ABS(rcCommandf);
 
     if (rcExpo) {
         float expof = rcExpo / 100.0f;
diff --git a/src/main/fc/fc_main.h b/src/main/fc/fc_main.h
index c44300b85..1471e15a8 100644
--- a/src/main/fc/fc_main.h
+++ b/src/main/fc/fc_main.h
@@ -37,3 +37,4 @@ void taskMainPidLoop(timeUs_t currentTimeUs);
 float getThrottlePIDAttenuation(void);
 float getSetpointRate(int axis);
 float getRcDeflection(int axis);
+float getRcDeflectionAbs(int axis);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 3e7dcc987..4931847d9 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -162,7 +162,7 @@ float calcHorizonLevelStrength(const pidProfile_t *pidProfile) {
     if(pidProfile->D8[PIDLEVEL] == 0){
         horizonLevelStrength = 0;
     } else {
-        const float mostDeflectedPos = MAX(getRcDeflection(FD_ROLL), getRcDeflection(FD_PITCH));
+        const float mostDeflectedPos = MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
         // Progressively turn off the horizon self level strength as the stick is banged over
         horizonLevelStrength = (1.0f - mostDeflectedPos);  // 1 at centre stick, 0 = max stick deflection
         horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * horizonTransition) + 1, 0, 1);
@@ -172,11 +172,11 @@ float calcHorizonLevelStrength(const pidProfile_t *pidProfile) {
 
 float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
     // calculate error angle and limit the angle to the max inclination
-    float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
+    float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
 #ifdef GPS
     errorAngle += GPS_angle[axis];
 #endif
-    errorAngle = constrainf(errorAngle, -pidProfile->max_angle_inclination, pidProfile->max_angle_inclination);
+    errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
     errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
     if(FLIGHT_MODE(ANGLE_MODE)) {
         // ANGLE mode - control is angle based, so control loop is needed
@@ -252,7 +252,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
         if (axis != FD_YAW) {
             float dynC = c[axis];
             if (pidProfile->setpointRelaxRatio < 100) {
-                const float rcDeflection = getRcDeflection(axis);
+                const float rcDeflection = getRcDeflectionAbs(axis);
                 dynC = c[axis];
                 if (currentPidSetpoint > 0) {
                     if ((currentPidSetpoint - previousSetpoint[axis]) < previousSetpoint[axis])
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 171c261a7..b2e82c220 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -72,7 +72,7 @@ typedef struct pidProfile_s {
     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.
-    float max_angle_inclination;
+    float levelAngleLimit;
 
     // Betaflight PID controller parameters
     uint16_t itermThrottleThreshold;        // max allowed throttle delta before errorGyroReset in ms
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8e5cd7a0b..32f9a05d5 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -833,7 +833,6 @@ const clivalue_t valueTable[] = {
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
     { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
-    { "max_angle_inclination",      VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.max_angle_inclination, .config.minmax = { 10.0f,  120.0f } },
 #ifdef USE_SERVOS
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
@@ -925,7 +924,8 @@ const clivalue_t valueTable[] = {
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0,  200 } },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0,  200 } },
 
-    { "level_sensitivity",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1,  3.0 } },
+    { "level_stick_sensitivity",    VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10.0f,  200.0f } },
+    { "level_angle_limit",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10.0f,  120.0f } },
 
 #ifdef BLACKBOX
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &blackboxConfig()->rate_num, .config.minmax = { 1,  32 } },