diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 88d67eaff..407eb5a97 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -56,6 +56,8 @@
 #include "sensors/acceleration.h"
 
 
+#define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
+
 FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
 FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
 
@@ -833,7 +835,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
         if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC)) {
             const float setpointLpf = pt1FilterApply(&windupLpf[axis], currentPidSetpoint);
             const float setpointHpf = fabsf(currentPidSetpoint - setpointLpf);
-            const float itermRelaxFactor = 1 - setpointHpf / 30.0f;
+            const float itermRelaxFactor = 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD;
 
             const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
             if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {