diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index fb993d246..c98390f1c 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1164,8 +1164,8 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
             }
         case FLIGHT_LOG_EVENT_GTUNE_RESULT:
             blackboxWrite(data->gtuneCycleResult.gtuneAxis);
-            blackboxWrite(data->gtuneCycleResult.gtuneGyroAVG);
-            blackboxWrite(data->gtuneCycleResult.gtuneNewP);
+            blackboxWriteSignedVB(data->gtuneCycleResult.gtuneGyroAVG);
+            blackboxWriteS16(data->gtuneCycleResult.gtuneNewP);
         break;
         case FLIGHT_LOG_EVENT_LOGGING_RESUME:
             blackboxWriteUnsignedVB(data->loggingResume.logIteration);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index f74e0bb52..fcd087584 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -157,8 +157,8 @@ typedef struct flightLogEvent_loggingResume_t {
 =======
 typedef struct flightLogEvent_gtuneCycleResult_t {
     uint8_t gtuneAxis;
-    uint32_t gtuneGyroAVG;
-    uint8_t gtuneNewP;
+    int32_t gtuneGyroAVG;
+    int16_t gtuneNewP;
 } flightLogEvent_gtuneCycleResult_t;
 >>>>>>> 6f60c52 Add BlackBox recording for G-Tune
 
diff --git a/src/main/flight/gtune.c b/src/main/flight/gtune.c
index d228c4aa8..bb3af9b3d 100644
--- a/src/main/flight/gtune.c
+++ b/src/main/flight/gtune.c
@@ -159,7 +159,8 @@ void calculate_Gtune(uint8_t axis)
 
                     eventData.gtuneAxis = axis;
                     eventData.gtuneGyroAVG = AvgGyro[axis];
-                    eventData.gtuneNewP = newP;
+                    if (floatPID) eventData.gtuneNewP = newP / 10;
+                    else eventData.gtuneNewP = newP;
 
                     blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
                 }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index bb5026e71..b7f97c85e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -456,11 +456,6 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
 
     axisPID[FD_YAW] =  PTerm + ITerm;
 
-    if (motorCount >= 4) {                                                     // prevent "yaw jump" during yaw correction
-        int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
-        axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
-    }
-
 #ifdef GTUNE
     if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
         calculate_Gtune(FD_YAW);
@@ -594,11 +589,6 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
 
     axisPID[FD_YAW] =  PTerm + ITerm;
 
-    if (motorCount >= 4) {                                                     // prevent "yaw jump" during yaw correction
-        int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
-        axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
-    }
-
 #ifdef GTUNE
     if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
         calculate_Gtune(FD_YAW);
@@ -749,11 +739,6 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
     axisPID[FD_YAW] = PTerm + ITerm;
     axisPID[FD_YAW] = lrintf(axisPID[FD_YAW]);                                 // Round up result.
 
-    if (motorCount >= 4) {                                                     // prevent "yaw jump" during yaw correction
-        int16_t limit = ABS(rcCommand[FD_YAW]) + 100;
-        axisPID[FD_YAW] = (float)constrain((int32_t)axisPID[FD_YAW], -limit, +limit);
-    }
-
 #ifdef GTUNE
     if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
         calculate_Gtune(FD_YAW);