diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index e39a2f6c3..b17bb03b7 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -710,7 +710,7 @@ const clivalue_t valueTable[] = {
 
     { "iterm_windup",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {30, 100 } },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
-    { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &pidConfig()->pid_process_denom, .config.minmax = { 1,  16 } },
+    { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &pidConfig()->pid_process_denom, .config.minmax = { 1,  MAX_PID_PROCESS_DENOM } },
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0,  200 } },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0,  200 } },
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 4b06396ad..f7c2af595 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -937,11 +937,11 @@ void activateConfig(void)
 
 void validateAndFixConfig(void)
 {
-    if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
+    if ((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)) {
         motorConfigMutable()->mincommand = 1000;
     }
 
-    if((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
+    if ((motorConfig()->motorPwmProtocol == PWM_TYPE_STANDARD) && (motorConfig()->motorPwmRate > 400)) {
         motorConfig()->motorPwmRate = 400;
     }
 
@@ -1093,7 +1093,7 @@ void validateAndFixGyroConfig(void)
     float motorUpdateRestriction;
     switch(motorConfig()->motorPwmProtocol) {
         case (PWM_TYPE_STANDARD):
-            motorUpdateRestriction = 0.002f;
+            motorUpdateRestriction = 0.0025f;
             break;
         case (PWM_TYPE_ONESHOT125):
             motorUpdateRestriction = 0.0005f;
@@ -1113,11 +1113,13 @@ void validateAndFixGyroConfig(void)
             motorUpdateRestriction = 0.00003125f;
     }
 
-    if(pidLooptime < motorUpdateRestriction)
-        pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
+    if (pidLooptime < motorUpdateRestriction) {
+        const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
+        pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
+    }
 
     // Prevent overriding the max rate of motors
-    if(motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
+    if (motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
         uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
 
         if(motorConfig()->motorPwmRate > maxEscRate)
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 2c40241d3..f0f756a6a 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -19,12 +19,13 @@
 
 #include <stdbool.h>
 
-#define PID_CONTROLLER_BETAFLIGHT 1
-#define PID_MIXER_SCALING 1000.0f
-#define PID_SERVO_MIXER_SCALING 0.7f
-#define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
-#define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
-#define PIDSUM_LIMIT 0.5f
+#define MAX_PID_PROCESS_DENOM       16
+#define PID_CONTROLLER_BETAFLIGHT   1
+#define PID_MIXER_SCALING           1000.0f
+#define PID_SERVO_MIXER_SCALING     0.7f
+#define YAW_P_LIMIT_MIN             100                 // Maximum value for yaw P limiter
+#define YAW_P_LIMIT_MAX             500                 // Maximum value for yaw P limiter
+#define PIDSUM_LIMIT                0.5f
 
 // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
 #define PTERM_SCALE 0.032029f