diff --git a/src/main/config/config.c b/src/main/config/config.c
index 72091a643e..c371ad2946 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -180,7 +180,7 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
     accelerometerTrims->values.yaw = 0;
 }
 
-static void resetPidProfile(pidProfile_t *pidProfile)
+void resetPidProfile(pidProfile_t *pidProfile)
 {
 
 #if (defined(STM32F10X))
@@ -195,7 +195,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->P8[PITCH] = 50;
     pidProfile->I8[PITCH] = 40;
     pidProfile->D8[PITCH] = 18;
-    pidProfile->P8[YAW] = 90;
+    pidProfile->P8[YAW] = 80;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
     pidProfile->P8[PIDALT] = 50;
@@ -220,10 +220,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->yaw_lpf_hz = 80;
-    pidProfile->rollPitchItermIgnoreRate = 200;
+    pidProfile->rollPitchItermIgnoreRate = 180;
     pidProfile->yawItermIgnoreRate = 35;
-    pidProfile->dterm_lpf_hz = 50;    // filtering ON by default
-    pidProfile->deltaMethod = DELTA_FROM_ERROR;
+    pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
+    pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
     pidProfile->dynamic_pid = 1;
 
 #ifdef GTUNE
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index d2b6cc0c8d..3bd8d14415 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1272,11 +1272,10 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(currentProfile->pidProfile.yaw_lpf_hz);
         break;
     case MSP_ADVANCED_TUNING:
-        headSerialReply(4 * 2 + 2);
+        headSerialReply(3 * 2 + 2);
         serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yaw_p_limit);
-        serialize16(masterConfig.rxConfig.airModeActivateThreshold);
         serialize8(currentProfile->pidProfile.deltaMethod);
         serialize8(masterConfig.batteryConfig.vbatPidCompensation);
         break;
@@ -1516,7 +1515,7 @@ static bool processInCommand(void)
         break;
 
     case MSP_SET_RESET_CURR_PID:
-        //resetPidProfile(&currentProfile->pidProfile);
+        resetPidProfile(&currentProfile->pidProfile);
         break;
 
     case MSP_SET_SENSOR_ALIGNMENT:
@@ -1857,6 +1856,7 @@ static bool processInCommand(void)
         currentProfile->pidProfile.yawItermIgnoreRate = read16();
         currentProfile->pidProfile.yaw_p_limit = read16();
         currentProfile->pidProfile.deltaMethod = read8();
+        masterConfig.batteryConfig.vbatPidCompensation = read8();
         break;
     case MSP_SET_SPECIAL_PARAMETERS:
         currentControlRateProfile->rcYawRate8 = read8();
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index b22955cead..8fe83d2445 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -166,6 +166,8 @@ void gyroUpdate(void)
                 gyroADCf[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]);
                 gyroADC[axis] = lrintf(gyroADCf[axis]);
             }
+        } else {
+            gyroADCf[axis] = gyroADC[axis]; // Otherwise float pid controller will not have gyro input when filter disabled
         }
     }
 }