diff --git a/src/js/TuningSliders.js b/src/js/TuningSliders.js
index 5b091810..e3b34762 100644
--- a/src/js/TuningSliders.js
+++ b/src/js/TuningSliders.js
@@ -321,21 +321,21 @@ TuningSliders.legacyCalculateNewPids = function() {
     // only used for 4.1 where calculation is not done in firmware
     if (this.dMinFeatureEnabled) {
         //dmin
-        FC.ADVANCED_TUNING.dMinRoll = Math.floor(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
-        FC.ADVANCED_TUNING.dMinPitch = Math.floor(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
+        FC.ADVANCED_TUNING.dMinRoll = Math.round(this.PID_DEFAULT[3] * this.sliderPDGain * this.sliderPDRatio);
+        FC.ADVANCED_TUNING.dMinPitch = Math.round(this.PID_DEFAULT[8] * this.sliderPDGain * this.sliderPDRatio);
         // dmax
-        FC.PIDS[0][2] = Math.floor(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
-        FC.PIDS[1][2] = Math.floor(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
+        FC.PIDS[0][2] = Math.round(this.PID_DEFAULT[2] * this.sliderPDGain * this.sliderPDRatio);
+        FC.PIDS[1][2] = Math.round(this.PID_DEFAULT[7] * this.sliderPDGain * this.sliderPDRatio);
     } else {
         FC.ADVANCED_TUNING.dMinRoll = 0;
         FC.ADVANCED_TUNING.dMinPitch = 0;
-        FC.PIDS[0][2] = Math.floor((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
-        FC.PIDS[1][2] = Math.floor((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
+        FC.PIDS[0][2] = Math.round((this.PID_DEFAULT[2] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
+        FC.PIDS[1][2] = Math.round((this.PID_DEFAULT[7] * D_MIN_RATIO) * this.sliderPDGain * this.sliderPDRatio);
     }
 
-    FC.PIDS[0][0] = Math.floor(this.PID_DEFAULT[0] * this.sliderPDGain);
-    FC.PIDS[1][0] = Math.floor(this.PID_DEFAULT[5] * this.sliderPDGain);
-    FC.PIDS[2][0] = Math.floor(this.PID_DEFAULT[10] * this.sliderPDGain);
+    FC.PIDS[0][0] = Math.round(this.PID_DEFAULT[0] * this.sliderPDGain);
+    FC.PIDS[1][0] = Math.round(this.PID_DEFAULT[5] * this.sliderPDGain);
+    FC.PIDS[2][0] = Math.round(this.PID_DEFAULT[10] * this.sliderPDGain);
     // ff
     FC.ADVANCED_TUNING.feedforwardRoll = Math.round(this.PID_DEFAULT[4] * this.sliderFFGain);
     FC.ADVANCED_TUNING.feedforwardPitch = Math.round(this.PID_DEFAULT[9] * this.sliderFFGain);
@@ -361,19 +361,18 @@ TuningSliders.legacyCalculateNewPids = function() {
     FC.ADVANCED_TUNING.feedforwardYaw = Math.min(Math.round(FC.ADVANCED_TUNING.feedforwardYaw * this.sliderMasterMultiplier), MAX_FF_GAIN);
 
     if (this.dMinFeatureEnabled) {
-        FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
-        FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
-        FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.floor(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
+        FC.ADVANCED_TUNING.dMinRoll = Math.min(Math.round(FC.ADVANCED_TUNING.dMinRoll * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
+        FC.ADVANCED_TUNING.dMinPitch = Math.min(Math.round(FC.ADVANCED_TUNING.dMinPitch * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
+        FC.ADVANCED_TUNING.dMinYaw = Math.min(Math.round(FC.ADVANCED_TUNING.dMinYaw * this.sliderMasterMultiplier), MAX_DMIN_GAIN);
     }
 
-    this.updateFormPids();
-
     $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
     $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
     $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
     $('.pid_tuning .ROLL input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardRoll);
     $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
     $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
+    this.updateFormPids();
 };
 
 TuningSliders.calculateNewPids = function() {
@@ -409,12 +408,10 @@ TuningSliders.calculateNewPids = function() {
 
         Promise.resolve(true)
         .then(() => { return MSP.promise(MSPCodes.MSP_SET_TUNING_SLIDERS, mspHelper.crunch(MSPCodes.MSP_SET_TUNING_SLIDERS)); })
-        .then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID); })
-        .then(() => { return MSP.send_message(MSPCodes.MSP_SET_PID_ADVANCED); });
+        .then(() => { return MSP.send_message(MSPCodes.MSP_PID); })
+        .then(() => { return MSP.send_message(MSPCodes.MSP_PID_ADVANCED); });
     }
 
-    this.updateFormPids();
-
     $('.pid_tuning input[name="dMinRoll"]').val(FC.ADVANCED_TUNING.dMinRoll);
     $('.pid_tuning input[name="dMinPitch"]').val(FC.ADVANCED_TUNING.dMinPitch);
     $('.pid_tuning input[name="dMinYaw"]').val(FC.ADVANCED_TUNING.dMinYaw);
@@ -422,6 +419,7 @@ TuningSliders.calculateNewPids = function() {
     $('.pid_tuning .PITCH input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardPitch);
     $('.pid_tuning .YAW input[name="f"]').val(FC.ADVANCED_TUNING.feedforwardYaw);
 
+    this.updateFormPids();
     TABS.pid_tuning.updatePIDColors();
 };
 
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 92042e2c..cbacb467 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -1803,10 +1803,36 @@ TABS.pid_tuning.initialize = function (callback) {
 
             $('#sliderPidsModeSelect').val(FC.TUNING_SLIDERS.slider_pids_mode);
 
+            $('#dMinSwitch').change(function() {
+                if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                    TuningSliders.setDMinFeatureEnabled($(this).is(':checked'));
+                    // switch dmin and dmax values on dmin on/off if sliders available
+                    if (!TuningSliders.pidSlidersUnavailable) {
+                        if (TuningSliders.dMinFeatureEnabled) {
+                            ADVANCED_TUNING.dMinRoll = FC.PIDs[0][2];
+                            ADVANCED_TUNING.dMinPitch = FC.PIDs[1][2];
+                            ADVANCED_TUNING.dMinYaw = FC.PIDs[2][2];
+                        } else {
+                            FC.PIDs[0][2] = ADVANCED_TUNING.dMinRoll;
+                            FC.PIDs[1][2] = ADVANCED_TUNING.dMinPitch;
+                            FC.PIDs[2][2] = ADVANCED_TUNING.dMinYaw;
+                        }
+                        TuningSliders.calculateNewPids();
+                    }
+                }
+            });
+
             // integrated yaw doesn't work with sliders therefore sliders are disabled
             $('input[id="useIntegratedYaw"]').change(() => TuningSliders.updatePidSlidersDisplay());
 
-            const allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
+            let allPidTuningSliders;
+            if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_44)) {
+                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderPDRatio, #sliderPDGain, #sliderFFGain');
+                $('.tab-pid_tuning .firmwareSlider').hide();
+            } else {
+                allPidTuningSliders = $('#sliderMasterMultiplier, #sliderRollPitchRatio, #sliderIGain, #sliderPDRatio, #sliderPDGain, #sliderDMinRatio, #sliderFFGain');
+                $('.tab-pid-tuning .firmwareSlider').show();
+            }
 
             allPidTuningSliders.on('input', function() {
                 const slider = $(this);
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index 0cd978b8..46428c5a 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -170,7 +170,7 @@
 
                     <!-- TUNING SLIDERS-->
                     <div id="slidersPidsBox" class="gui_box grey topspacer tuningPIDSliders">
-                        <table class="pid_titlebar">
+                        <table class="pid_titlebar firmwareSlider">
                             <tr>
                                 <th scope="col" class="sm-min">
                                     <select id="sliderPidsModeSelect">
@@ -208,12 +208,12 @@
                                     <div class="helpicon cf_tip" i18n_title="pidTuningMasterSliderHelp"></div>
                                 </td>
                             </tr>
-                            <tr class="xs sliderHeaders">
+                            <tr class="xs sliderHeaders firmwareSlider">
                                 <td colspan="5">
                                     <span i18n="pidTuningPDRatioSlider"></span>
                                 </td>
                             </tr>
-                            <tr>
+                            <tr class="firmwareSlider">
                                 <td class="sm-min">
                                     <span i18n="pidTuningRollPitchRatioSlider"/>
                                 </td>
@@ -227,7 +227,7 @@
                                     <div class="helpicon cf_tip" i18n_title="pidTuningRollPitchRatioSliderHelp"></div>
                                 </td>
                             </tr>
-                            <tr>
+                            <tr class="firmwareSlider">
                                 <td>
                                     <span i18n="pidTuningIGainSlider"/>
                                 </td>
@@ -274,12 +274,12 @@
                                     <div class="helpicon cf_tip" i18n_title="pidTuningPDGainSliderHelp"></div>
                                 </td>
                             </tr>
-                            <tr class="xs sliderHeaders">
+                            <tr class="xs sliderHeaders firmwareSlider">
                                 <td colspan="5">
                                     <span i18n="pidTuningResponseSlider"></span>
                                 </td>
                             </tr>
-                            <tr>
+                            <tr class="firmwareSlider">
                                 <td class="sm-min">
                                     <span i18n="pidTuningDMinRatioSlider"/>
                                 </td>