diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index bf6a12fce..ef6457ebf 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1263,25 +1263,10 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d",                    currentPidProfile->pid[PID_YAW].P,
                                                                             currentPidProfile->pid[PID_YAW].I,
                                                                             currentPidProfile->pid[PID_YAW].D);
-        BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d",                    currentPidProfile->pid[PID_ALT].P,
-                                                                            currentPidProfile->pid[PID_ALT].I,
-                                                                            currentPidProfile->pid[PID_ALT].D);
-        BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d",                    currentPidProfile->pid[PID_POS].P,
-                                                                            currentPidProfile->pid[PID_POS].I,
-                                                                            currentPidProfile->pid[PID_POS].D);
-        BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d",                   currentPidProfile->pid[PID_POSR].P,
-                                                                            currentPidProfile->pid[PID_POSR].I,
-                                                                            currentPidProfile->pid[PID_POSR].D);
-        BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d",                   currentPidProfile->pid[PID_NAVR].P,
-                                                                            currentPidProfile->pid[PID_NAVR].I,
-                                                                            currentPidProfile->pid[PID_NAVR].D);
         BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d",                  currentPidProfile->pid[PID_LEVEL].P,
                                                                             currentPidProfile->pid[PID_LEVEL].I,
                                                                             currentPidProfile->pid[PID_LEVEL].D);
         BLACKBOX_PRINT_HEADER_LINE("magPID", "%d",                          currentPidProfile->pid[PID_MAG].P);
-        BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d",                    currentPidProfile->pid[PID_VEL].P,
-                                                                            currentPidProfile->pid[PID_VEL].I,
-                                                                            currentPidProfile->pid[PID_VEL].D);
         BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d",               currentPidProfile->dterm_filter_type);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass_hz", "%d",                currentPidProfile->dterm_lowpass_hz);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz", "%d",               currentPidProfile->dterm_lowpass2_hz);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 43a4345b4..defa2e74b 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -58,6 +58,13 @@
 
 #define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
 
+const char pidNames[] =
+    "ROLL;"
+    "PITCH;"
+    "YAW;"
+    "LEVEL;"
+    "MAG;";
+
 FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
 FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
 
@@ -113,13 +120,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
             [PID_ROLL] =  { 46, 45, 25, 60 },
             [PID_PITCH] = { 50, 50, 27, 60 },
             [PID_YAW] =   { 65, 45, 0 , 60 },
-            [PID_ALT] =   { 50, 0, 0, 0 },
-            [PID_POS] =   { 15, 0, 0, 0 },     // POSHOLD_P * 100, POSHOLD_I * 100,
-            [PID_POSR] =  { 34, 14, 53, 0 },   // POSHOLD_RATE_P * 10, POSHOLD_RATE_I * 100, POSHOLD_RATE_D * 1000,
-            [PID_NAVR] =  { 25, 33, 83, 0 },   // NAV_P * 10, NAV_I * 100, NAV_D * 1000
             [PID_LEVEL] = { 50, 50, 75, 0 },
             [PID_MAG] =   { 40, 0, 0, 0 },
-            [PID_VEL] =   { 55, 55, 75, 0 }
         },
 
         .pidSumLimit = PIDSUM_LIMIT,
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 8ac00a051..3c78df75e 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -47,13 +47,8 @@ typedef enum {
     PID_ROLL,
     PID_PITCH,
     PID_YAW,
-    PID_ALT,
-    PID_POS,
-    PID_POSR,
-    PID_NAVR,
     PID_LEVEL,
     PID_MAG,
-    PID_VEL,
     PID_ITEM_COUNT
 } pidIndex_e;
 
@@ -177,6 +172,8 @@ typedef struct pidAxisData_s {
     float Sum;
 } pidAxisData_t;
 
+extern const char pidNames[];
+
 extern pidAxisData_t pidData[3];
 
 extern uint32_t targetPidLooptime;
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index e092dcf5b..e3533cd41 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -143,18 +143,6 @@ static uint8_t rebootMode;
 
 #ifndef USE_OSD_SLAVE
 
-static const char pidnames[] =
-    "ROLL;"
-    "PITCH;"
-    "YAW;"
-    "ALT;"
-    "Pos;"
-    "PosR;"
-    "NavR;"
-    "LEVEL;"
-    "MAG;"
-    "VEL;";
-
 typedef enum {
     MSP_SDCARD_STATE_NOT_PRESENT = 0,
     MSP_SDCARD_STATE_FATAL       = 1,
@@ -984,7 +972,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         break;
 
     case MSP_PIDNAMES:
-        for (const char *c = pidnames; *c; c++) {
+        for (const char *c = pidNames; *c; c++) {
             sbufWriteU8(dst, *c);
         }
         break;