diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 96f884a27..5ca8a804d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -170,7 +170,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .iterm_rotation = false,
         .smart_feedforward = false,
         .iterm_relax = ITERM_RELAX_RP,
-        .iterm_relax_cutoff = 20,
+        .iterm_relax_cutoff = ITERM_RELAX_CUTOFF_DEFAULT,
         .iterm_relax_type = ITERM_RELAX_SETPOINT,
         .acro_trainer_angle_limit = 20,
         .acro_trainer_lookahead_ms = 50,
@@ -574,8 +574,9 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         pidCoefficient[axis].Kf = FEEDFORWARD_SCALE * (pidProfile->pid[axis].F / 100.0f);
     }
 #ifdef USE_INTEGRATED_YAW_CONTROL
-    if (!pidProfile->use_integrated_yaw) {
-#endif        
+    if (!pidProfile->use_integrated_yaw)
+#endif
+    {
         pidCoefficient[FD_YAW].Ki *= 2.5f;
     }
 
diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index 796046b8b..1a3035c3f 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -94,6 +94,9 @@ void setDefaultTestSettings(void) {
     pidProfile->pid[PID_YAW]   =  { 70, 45, 20, 60 };
     pidProfile->pid[PID_LEVEL] =  { 50, 50, 75, 0 };
 
+    // Compensate for the upscaling done without 'use_integrated_yaw'
+    pidProfile->pid[PID_YAW].I = pidProfile->pid[PID_YAW].I / 2.5f;
+
     pidProfile->pidSumLimit = PIDSUM_LIMIT;
     pidProfile->pidSumLimitYaw = PIDSUM_LIMIT_YAW;
     pidProfile->yaw_lowpass_hz = 0;