diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index f96ccce4..c81630ac 100644
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1065,13 +1065,13 @@
     "receiverRcInterpolationInterval": {
         "message": "RC Interpolation Interval [ms]"
     },
-    "pidTuningPtermSetpoint": {
+    "pidTuningDtermSetpointTransition": {
         "message": "D Setpoint transition"
     },
     "pidTuningDtermSetpoint": {
         "message": "D Setpoint Weight"
     },
-    "pidTuningPtermSetpointHelp": {
+    "pidTuningDtermSetpointTransitionHelp": {
         "message": "With this parameter, D Setpoint Weight can be reduced near the center of the sticks, which results in smoother end of flips and rolls.<br> The value represents a point of stick deflection: 0 - stick centered, 1 - full deflection. When the stick is above that point, Setpoint Weight is kept constant at its configured value. When the stick is positioned below that point, Setpoint Weight is reduced proportionally, reaching 0 at the stick center position.<br> Value of 1 gives maximum smoothing effect, while value of 0 keeps the Setpoint Weight fixed at its configured value over the whole stick range."
     },
     "pidTuningDtermSetpointHelp": {
diff --git a/js/fc.js b/js/fc.js
index c9f73a67..7e47e557 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -348,7 +348,7 @@ var FC = {
             yaw_p_limit:                0,
             deltaMethod:                0,
             vbatPidCompensation:        0,
-            ptermSetpointWeight:        0,
+            dtermSetpointTransition:    0,
             dtermSetpointWeight:        0,
             toleranceBand:              0,
             toleranceBandReduction:     0,
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 03686914..67e73f39 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -845,7 +845,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
                 ADVANCED_TUNING.deltaMethod = data.readU8();
                 ADVANCED_TUNING.vbatPidCompensation = data.readU8();
                 if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
-                    ADVANCED_TUNING.ptermSetpointWeight = data.readU8();
+                    ADVANCED_TUNING.dtermSetpointTransition = data.readU8();
                     ADVANCED_TUNING.dtermSetpointWeight = data.readU8();
                     ADVANCED_TUNING.toleranceBand = data.readU8();
                     ADVANCED_TUNING.toleranceBandReduction = data.readU8();
@@ -1471,7 +1471,7 @@ MspHelper.prototype.crunch = function(code) {
                     .push16(ADVANCED_TUNING.yaw_p_limit)
                     .push8(ADVANCED_TUNING.deltaMethod)
                     .push8(ADVANCED_TUNING.vbatPidCompensation)
-                    .push8(ADVANCED_TUNING.ptermSetpointWeight)
+                    .push8(ADVANCED_TUNING.dtermSetpointTransition)
                     .push8(ADVANCED_TUNING.dtermSetpointWeight)
                     .push8(ADVANCED_TUNING.toleranceBand)
                     .push8(ADVANCED_TUNING.toleranceBandReduction)
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 440ebf01..6608081d 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -309,15 +309,15 @@
                                     </div>
                                 </td>
                             </tr>
-                            <tr class="ptermSetpoint">
-                                <td><input type="number" name="ptermSetpoint-number" step="0.01" min="0.00" max="1.00"/></td>
-                                <td class="slider"><input type="range" name="ptermSetpoint-range" step="0.01" min="0.0" max="1.00"/></td>
+                            <tr class="dtermSetpointTransition">
+                                <td><input type="number" name="dtermSetpointTransition-number" step="0.01" min="0.01" max="1.00"/></td>
+                                <td class="slider"><input type="range" name="dtermSetpointTransition-range" step="0.01" min="0.01" max="1.00"/></td>
                                  <td colspan="2">
                                     <div>
                                         <label>
-                                        <span i18n="pidTuningPtermSetpoint"></span>
+                                        <span i18n="pidTuningDtermSetpointTransition"></span>
                                         </label>
-                                        <div class="helpicon cf_tip" i18n_title="pidTuningPtermSetpointHelp"></div>
+                                        <div class="helpicon cf_tip" i18n_title="pidTuningDtermSetpointTransitionHelp"></div>
                                 </div>
                             </td>
                             </tr>
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index bdb149e4..3c95c6ac 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -236,8 +236,8 @@ TABS.pid_tuning.initialize = function (callback) {
             $('.pid_filter input[name="dTermNotchFrequency"]').val(FILTER_CONFIG.dterm_notch_hz);
             $('.pid_filter input[name="dTermNotchCutoff"]').val(FILTER_CONFIG.dterm_notch_cutoff);
 
-            $('input[name="ptermSetpoint-number"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
-            $('input[name="ptermSetpoint-range"]').val(ADVANCED_TUNING.ptermSetpointWeight / 100);
+            $('input[name="dtermSetpointTransition-number"]').val(ADVANCED_TUNING.dtermSetpointTransition / 100);
+            $('input[name="dtermSetpointTransition-range"]').val(ADVANCED_TUNING.dtermSetpointTransition / 100);
 
             $('input[name="dtermSetpoint-number"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
             $('input[name="dtermSetpoint-range"]').val(ADVANCED_TUNING.dtermSetpointWeight / 100);
@@ -388,7 +388,7 @@ TABS.pid_tuning.initialize = function (callback) {
         }
 
         if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
-            ADVANCED_TUNING.ptermSetpointWeight = parseInt($('input[name="ptermSetpoint-number"]').val() * 100);
+            ADVANCED_TUNING.dtermSetpointTransition = parseInt($('input[name="dtermSetpointTransition-number"]').val() * 100);
             ADVANCED_TUNING.dtermSetpointWeight = parseInt($('input[name="dtermSetpoint-number"]').val() * 100);
 
             FILTER_CONFIG.gyro_soft_notch_hz_1 = parseInt($('.pid_filter input[name="gyroNotch1Frequency"]').val());
@@ -623,13 +623,13 @@ TABS.pid_tuning.initialize = function (callback) {
                 });
             });
 
-            var ptermNumberElement = $('input[name="ptermSetpoint-number"]');
-            var ptermRangeElement = $('input[name="ptermSetpoint-range"]');
-            ptermNumberElement.change(function () {
-                ptermRangeElement.val($(this).val());
+            var dtermTransitionNumberElement = $('input[name="dtermSetpointTransition-number"]');
+            var dtermTransitionRangeElement = $('input[name="dtermSetpointTransition-range"]');
+            dtermTransitionNumberElement.change(function () {
+                dtermTransitionRangeElement.val($(this).val());
             });
-            ptermRangeElement.change(function () {
-                ptermNumberElement.val($(this).val());
+            dtermTransitionRangeElement.change(function () {
+                dtermTransitionNumberElement.val($(this).val());
             });
 
             var dtermNumberElement = $('input[name="dtermSetpoint-number"]');
@@ -643,7 +643,7 @@ TABS.pid_tuning.initialize = function (callback) {
         } else {
             $('.tab-pid_tuning .rate_profile').hide();
 
-            $('#pid-tuning .ptermSetpoint').hide();
+            $('#pid-tuning .dtermSetpointTransition').hide();
             $('#pid-tuning .dtermSetpoint').hide();
         }
 
@@ -1153,12 +1153,12 @@ TABS.pid_tuning.updatePidControllerParameters = function () {
 
         $('#pid-tuning .delta').show();
 
-        $('#pid-tuning .ptermSetpoint').hide();
+        $('#pid-tuning .dtermSetpointTransition').hide();
         $('#pid-tuning .dtermSetpoint').hide();
     } else {
         $('.pid_tuning .YAW_JUMP_PREVENTION').hide();
 
-        $('#pid-tuning .ptermSetpoint').show();
+        $('#pid-tuning .dtermSetpointTransition').show();
         $('#pid-tuning .dtermSetpoint').show();
 
         $('#pid-tuning .delta').hide();