diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index f35bcee66..5798e07aa 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -548,6 +548,7 @@ const clivalue_t valueTable[] = {
     { "acc_limit",                  VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
     { "crash_dthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },
     { "crash_gthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_gthreshold) },
+    { "crash_setpoint_threshold",   VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_setpoint_threshold) },
     { "crash_time",                 VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 5000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_time) },
     { "crash_recovery_angle",       VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 30 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery_angle) },
     { "crash_recovery_rate",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery_rate) },
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 7d4cfa111..016048a54 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -105,11 +105,12 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 350,
         .itermAcceleratorGain = 1000,
-        .crash_time = 500,          // 500ms
-        .crash_recovery_angle = 10, //  10 degrees
-        .crash_recovery_rate = 100, // 100 degrees/second
-        .crash_dthreshold = 50,     //  50 degrees/second/second
-        .crash_gthreshold = 500,    // 500 degrees/second
+        .crash_time = 500,          // ms
+        .crash_recovery_angle = 10, // degrees
+        .crash_recovery_rate = 100, // degrees/second
+        .crash_dthreshold = 50,     // degrees/second/second
+        .crash_gthreshold = 400,    // degrees/second
+        .crash_setpoint_threshold = 350, // degrees/second
         .crash_recovery = PID_CRASH_RECOVERY_OFF, // off by default
         .horizon_tilt_effect = 75,
         .horizon_tilt_expert_mode = false
@@ -241,6 +242,7 @@ static int32_t crashRecoveryAngleDeciDegrees;
 static float crashRecoveryRate;
 static float crashDtermThreshold;
 static float crashGyroThreshold;
+static float crashSetpointThreshold;
 
 void pidInitConfig(const pidProfile_t *pidProfile) {
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
@@ -265,6 +267,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
     crashRecoveryRate = pidProfile->crash_recovery_rate;
     crashGyroThreshold = pidProfile->crash_gthreshold;
     crashDtermThreshold = pidProfile->crash_dthreshold;
+    crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -448,7 +451,10 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
 
             // if crash recovery is on and accelerometer enabled then check for a crash
             if (pidProfile->crash_recovery && sensors(SENSOR_ACC)) {
-                if (motorMixRange >= 1.0f && ABS(delta) > crashDtermThreshold && ABS(errorRate) > crashGyroThreshold) {
+                if (motorMixRange >= 1.0f
+                        && ABS(delta) > crashDtermThreshold
+                        && ABS(errorRate) > crashGyroThreshold
+                        && ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
                     inCrashRecoveryMode = true;
                     crashDetectedAtUs = currentTimeUs;
                     if (pidProfile->crash_recovery == PID_CRASH_RECOVERY_BEEP) {
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index f6de2aa12..f8421b515 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -95,11 +95,12 @@ typedef struct pidProfile_s {
     uint16_t itermThrottleThreshold;        // max allowed throttle delta before iterm accelerated in ms
     uint16_t itermAcceleratorGain;          // Iterm Accelerator Gain when itermThrottlethreshold is hit
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
-    uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
+    uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
     uint16_t crash_dthreshold;              // dterm crash value
     uint16_t crash_gthreshold;              // gyro crash value
+    uint16_t crash_setpoint_threshold;      // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
     uint16_t crash_time;                    // ms
     uint8_t crash_recovery_angle;           // degrees
     uint8_t crash_recovery_rate;            // degree/second