diff --git a/firmware/controllers/algo/aux_pid.cpp b/firmware/controllers/algo/aux_pid.cpp
index 5875932c8f..d324f95378 100644
--- a/firmware/controllers/algo/aux_pid.cpp
+++ b/firmware/controllers/algo/aux_pid.cpp
@@ -58,8 +58,11 @@ static msg_t auxPidThread(int param) {
 			int dt = maxI(10, engineConfiguration->auxPidDT[0]);
 			chThdSleepMilliseconds(dt);
 
-			if (parametersVersion.isOld())
+			if (parametersVersion.isOld()) {
 				auxPid.reset();
+				auxPid.minResult = engineConfiguration->aux1PidMin;
+				auxPid.maxResult = engineConfiguration->aux1PidMax;
+			}
 
 			float rpm = engine->rpmCalculator.rpmValue;
 
diff --git a/firmware/controllers/alternatorController.cpp b/firmware/controllers/alternatorController.cpp
index af01042038..930762a98f 100644
--- a/firmware/controllers/alternatorController.cpp
+++ b/firmware/controllers/alternatorController.cpp
@@ -51,6 +51,8 @@ static msg_t AltCtrlThread(int param) {
 		if (shouldResetPid) {
 			alternatorPidResetCounter++;
 			altPid.reset();
+			altPid.minResult = engineConfiguration->bc.alternatorPidMin;
+			altPid.maxResult = engineConfiguration->bc.alternatorPidMax;
 			shouldResetPid = false;
 		}
 #endif
@@ -154,7 +156,9 @@ void setDefaultAlternatorParameters(void) {
 }
 
 void onConfigurationChangeAlternatorCallback(engine_configuration_s *previousConfiguration) {
-	shouldResetPid = !altPid.isSame(&previousConfiguration->alternatorControl);
+	shouldResetPid = !altPid.isSame(&previousConfiguration->alternatorControl) ||
+			engineConfiguration->bc.alternatorPidMin != previousConfiguration->bc.alternatorPidMin ||
+			engineConfiguration->bc.alternatorPidMax != previousConfiguration->bc.alternatorPidMax;
 }
 
 void initAlternatorCtrl(Logging *sharedLogger) {
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index c6a0df0940..be2d7cd1ab 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -35,10 +35,10 @@ public:
 #if EFI_PROD_CODE || EFI_SIMULATOR
 	void postState(TunerStudioOutputChannels *tsOutputChannels);
 #endif
-private:
-	pid_s *pid;
 	float minResult;
 	float maxResult;
+private:
+	pid_s *pid;
 
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes