diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 8ada09a22..3f1a48140 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1296,8 +1296,8 @@ static bool blackboxWriteSysinfo()
                                      (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
             break;
         case 40:
-            blackboxPrintfHeaderLine("H_sensitivity:%d",
-                                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);
+            blackboxPrintfHeaderLine("iterm_reset_offset:%d",
+                                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermResetOffset);
             break;
         case 41:
             blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
diff --git a/src/main/config/config.c b/src/main/config/config.c
index d3759bdd3..1e0f4961e 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -187,6 +187,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->rollPitchItermResetRate = 200;
     pidProfile->rollPitchItermResetAlways = 0;
     pidProfile->yawItermResetRate = 50;
+    pidProfile->itermResetOffset = 15;
     pidProfile->dterm_lpf_hz = 80;    // filtering ON by default
     pidProfile->dynamic_pterm = 1;
 
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0a5cf87db..85de0917a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -88,7 +88,7 @@ float calculateExpoPlus(int axis, rxConfig_t *rxConfig) {
         propFactor = 1.0f;
     } else {
         superExpoFactor = (axis == YAW) ? rxConfig->superExpoFactorYaw : rxConfig->superExpoFactor;
-        propFactor = 1.0f - ((superExpoFactor / 100.0f) * (ABS(rcCommand[axis]) / 500.0f));
+        propFactor = constrainf(1.0f - ((superExpoFactor / 100.0f) * (ABS(rcCommand[axis]) / 500.0f)), 0.0f, 1.0f);
     }
 
     return propFactor;
@@ -223,11 +223,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * pidProfile->I8[axis], -250.0f, 250.0f);
 
         if ((pidProfile->rollPitchItermResetAlways || IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) && axis != YAW) {
-            if (ABS(gyroRate / 4.1f) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
+            if (ABS(gyroRate / 4.1f) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -pidProfile->itermResetOffset, pidProfile->itermResetOffset);
         }
 
         if (axis == YAW) {
-            if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -ITERM_RESET_THRESHOLD, ITERM_RESET_THRESHOLD);
+            if (ABS(gyroRate / 4.1f) >= pidProfile->yawItermResetRate) errorGyroIf[axis] = constrainf(errorGyroIf[axis], -YAW_ITERM_RESET_OFFSET, YAW_ITERM_RESET_OFFSET);
         }
 
         if (antiWindupProtection || motorLimitReached) {
@@ -364,11 +364,11 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) - GYRO_I_MAX << 13, (int32_t) + GYRO_I_MAX << 13);
 
         if ((pidProfile->rollPitchItermResetAlways || IS_RC_MODE_ACTIVE(BOXSUPEREXPO)) && axis != YAW) {
-            if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
+            if (ABS(gyroRate *10 / 41) >= pidProfile->rollPitchItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -pidProfile->itermResetOffset << 13, (int32_t) + pidProfile->itermResetOffset << 13);
         }
 
         if (axis == YAW) {
-            if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -ITERM_RESET_THRESHOLD << 13, (int32_t) + ITERM_RESET_THRESHOLD << 13);
+            if (ABS(gyroRate * 10 / 41) >= pidProfile->yawItermResetRate) errorGyroI[axis] = constrain(errorGyroI[axis], (int32_t) -YAW_ITERM_RESET_OFFSET << 13, (int32_t) + YAW_ITERM_RESET_OFFSET << 13);
         }
 
         if (antiWindupProtection || motorLimitReached) {
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 361ff9508..cdb571c17 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -22,7 +22,7 @@
 #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 ITERM_RESET_THRESHOLD 15
+#define YAW_ITERM_RESET_OFFSET 15 // May be made configurable in the future, but not really needed for yaw
 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
 
 typedef enum {
@@ -71,10 +71,9 @@ typedef struct pidProfile_s {
     uint8_t I8[PID_ITEM_COUNT];
     uint8_t D8[PID_ITEM_COUNT];
 
-    uint8_t H_sensitivity;
-
-    uint16_t dterm_lpf_hz;                   // Delta Filter in hz
-    uint16_t yaw_lpf_hz;                     // Additional yaw filter when yaw axis too noisy
+    uint8_t itermResetOffset;               // Reset offset for Iterm
+    uint16_t dterm_lpf_hz;                  // Delta Filter in hz
+    uint16_t yaw_lpf_hz;                    // Additional yaw filter when yaw axis too noisy
     uint16_t rollPitchItermResetRate;       // Experimental threshold for resetting iterm for pitch and roll on certain rates
     uint8_t rollPitchItermResetAlways;      // Reset Iterm also without SUPER EXPO
     uint16_t yawItermResetRate;             // Experimental threshold for resetting iterm for yaw on certain rates
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 423c59bc4..f30b86fb5 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -734,6 +734,7 @@ const clivalue_t valueTable[] = {
     { "iterm_always_reset",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.rollPitchItermResetAlways, .config.lookup = { TABLE_OFF_ON } },
     { "iterm_reset_degrees",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermResetRate, .config.minmax = {50, 1000 } },
     { "yaw_iterm_reset_degrees",    VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermResetRate, .config.minmax = {25, 1000 } },
+    { "iterm_reset_offset",         VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermResetOffset, .config.minmax = { 0,  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,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },