diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 4705b15d60..7b269deb55 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1179,7 +1179,7 @@ static bool blackboxWriteSysinfo()
     }
 
     const profile_t *currentProfile = &masterConfig.profile[systemConfig()->current_profile_index];
-    const controlRateConfig_t *currentControlRateProfile = &currentProfile->controlRateProfile[masterConfig.profile[systemConfig()->current_profile_index].activeRateProfile];
+    const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
     switch (xmitState.headerIndex) {
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
         BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
diff --git a/src/main/cms/cms_menu_blackbox.c b/src/main/cms/cms_menu_blackbox.c
index 2301a1937c..870f5d2e3b 100644
--- a/src/main/cms/cms_menu_blackbox.c
+++ b/src/main/cms/cms_menu_blackbox.c
@@ -47,6 +47,8 @@
 
 #include "drivers/system.h"
 
+#include "fc/config.h"
+
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/flashfs.h"
 #include "io/beeper.h"
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 047f8e8640..5c876d9592 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -67,7 +67,7 @@ static long cmsx_menuImu_onEnter(void)
     profileIndex = systemConfig()->current_profile_index;
     tmpProfileIndex = profileIndex + 1;
 
-    rateProfileIndex = masterConfig.profile[profileIndex].activeRateProfile;
+    rateProfileIndex = systemConfig()->activeRateProfile;
     tmpRateProfileIndex = rateProfileIndex + 1;
 
     return 0;
@@ -78,7 +78,7 @@ static long cmsx_menuImu_onExit(const OSD_Entry *self)
     UNUSED(self);
 
     systemConfigMutable()->current_profile_index = profileIndex;
-    masterConfig.profile[profileIndex].activeRateProfile = rateProfileIndex;
+    systemConfigMutable()->activeRateProfile = rateProfileIndex;
 
     return 0;
 }
@@ -174,7 +174,7 @@ static CMS_Menu cmsx_menuPid = {
 
 static long cmsx_RateProfileRead(void)
 {
-    memcpy(&rateProfile, &masterConfig.profile[profileIndex].controlRateProfile[rateProfileIndex], sizeof(controlRateConfig_t));
+    memcpy(&rateProfile, controlRateProfiles(rateProfileIndex), sizeof(controlRateConfig_t));
 
     return 0;
 }
@@ -183,7 +183,7 @@ static long cmsx_RateProfileWriteback(const OSD_Entry *self)
 {
     UNUSED(self);
 
-    memcpy(&masterConfig.profile[profileIndex].controlRateProfile[rateProfileIndex], &rateProfile, sizeof(controlRateConfig_t));
+    memcpy(controlRateProfilesMutable(rateProfileIndex), &rateProfile, sizeof(controlRateConfig_t));
 
     return 0;
 }
diff --git a/src/main/cms/cms_menu_ledstrip.c b/src/main/cms/cms_menu_ledstrip.c
index e92f42c99a..fb6a38ec87 100644
--- a/src/main/cms/cms_menu_ledstrip.c
+++ b/src/main/cms/cms_menu_ledstrip.c
@@ -26,16 +26,19 @@
 
 #include "build/version.h"
 
-#include "drivers/system.h"
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+#include "cms/cms_menu_ledstrip.h"
 
 #include "config/config_profile.h"
 #include "config/feature.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "cms/cms.h"
-#include "cms/cms_types.h"
-#include "cms/cms_menu_ledstrip.h"
+#include "drivers/system.h"
+
+#include "fc/config.h"
+
 
 #ifdef LED_STRIP
 
diff --git a/src/main/cms/cms_menu_misc.c b/src/main/cms/cms_menu_misc.c
index c927aa66b1..3fd009b3f5 100644
--- a/src/main/cms/cms_menu_misc.c
+++ b/src/main/cms/cms_menu_misc.c
@@ -39,6 +39,8 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
+#include "fc/rc_controls.h"
+
 #include "flight/mixer.h"
 
 #include "rx/rx.h"
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 3d4156a438..0ff5b7670e 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -37,6 +37,7 @@
 #include "drivers/display.h"
 #include "drivers/serial.h"
 
+#include "fc/config.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/fc_core.h"
@@ -123,7 +124,6 @@
 #define vtxConfig(x) (&masterConfig.vtxConfig)
 #define beeperConfig(x) (&masterConfig.beeperConfig)
 
-
 #define featureConfigMutable(x) (&masterConfig.featureConfig)
 #define systemConfigMutable(x) (&masterConfig.systemConfig)
 #define motorConfigMutable(x) (&masterConfig.motorConfig)
@@ -179,12 +179,14 @@
 #define rxFailsafeChannelConfigs(x) (&masterConfig.rxConfig.failsafe_channel_configurations[x])
 #define osdConfig(x) (&masterConfig.osdProfile)
 #define modeActivationConditions(x) (&masterConfig.modeActivationProfile.modeActivationConditions[x])
+#define controlRateProfiles(x) (&masterConfig.controlRateProfile[x])
 
 #define servoParamsMutable(x) (&servoProfile()->servoConf[x])
 #define adjustmentRangesMutable(x) (&masterConfig.adjustmentProfile.adjustmentRanges[x])
 #define rxFailsafeChannelConfigsMutable(x) (&masterConfig.rxConfig.>failsafe_channel_configurations[x])
 #define osdConfigMutable(x) (&masterConfig.osdProfile)
 #define modeActivationConditionsMutable(x) (&masterConfig.modeActivationProfile.modeActivationConditions[x])
+#define controlRateProfilesMutable(x) (&masterConfig.controlRateProfile[x])
 #endif
 
 // System-wide
@@ -301,6 +303,7 @@ typedef struct master_s {
 #endif
 
     profile_t profile[MAX_PROFILE_COUNT];
+    controlRateConfig_t controlRateProfile[MAX_RATEPROFILES];
 
     modeActivationProfile_t modeActivationProfile;
     adjustmentProfile_t adjustmentProfile;
diff --git a/src/main/config/config_profile.h b/src/main/config/config_profile.h
index d1f2c513fd..c741b2a557 100644
--- a/src/main/config/config_profile.h
+++ b/src/main/config/config_profile.h
@@ -17,12 +17,8 @@
 
 #pragma once
 
-#include "fc/config.h"
-#include "fc/rc_controls.h"
 #include "flight/pid.h"
 
 typedef struct profile_s {
     pidProfile_t pidProfile;
-    uint8_t activeRateProfile;
-    controlRateConfig_t controlRateProfile[MAX_RATEPROFILES];
 } profile_t;
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index c10accf3ca..35c847d7ef 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -725,17 +725,17 @@ static const clivalue_t valueTable[] = {
     { "channel_forwarding_start",    VAR_UINT8  | MASTER_VALUE, &channelForwardingConfig()->startChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
 #endif
 
-    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0,  255 } },
-    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  255 } },
-    { "rc_expo",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0,  100 } },
-    { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
-    { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
-    { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
-    { "roll_srate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "pitch_srate",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
-    { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX} },
-    { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX} },
+    { "rc_rate",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcRate8, .config.minmax = { 0,  255 } },
+    { "rc_rate_yaw",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcYawRate8, .config.minmax = { 0,  255 } },
+    { "rc_expo",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcExpo8, .config.minmax = { 0,  100 } },
+    { "rc_yaw_expo",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcYawExpo8, .config.minmax = { 0,  100 } },
+    { "thr_mid",                    VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].thrMid8, .config.minmax = { 0,  100 } },
+    { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
+    { "roll_srate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "pitch_srate",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
+    { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX} },
+    { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX} },
     { "airmode_start_throttle",     VAR_UINT16 | MASTER_VALUE, &rxConfig()->airModeActivateThreshold, .config.minmax = {1000, 2000 } },
 
     { "failsafe_delay",             VAR_UINT8  | MASTER_VALUE,  &failsafeConfig()->failsafe_delay, .config.minmax = { 0,  200 } },
@@ -4127,12 +4127,12 @@ static void printConfig(char *cmdline, bool doDiff)
         dumpValues(MASTER_VALUE, dumpMask, &defaultConfig);
 
         if (dumpMask & DUMP_ALL) {
-            uint8_t activeProfile = systemConfig()->current_profile_index;
+            const uint8_t activeProfile = systemConfig()->current_profile_index;
             for (uint32_t profileCount=0; profileCount<MAX_PROFILE_COUNT;profileCount++) {
                 cliDumpProfile(profileCount, dumpMask, &defaultConfig);
 
-                uint8_t currentRateIndex = currentProfile->activeRateProfile;
-                for (uint32_t rateCount = 0; rateCount<MAX_RATEPROFILES; rateCount++) {
+                const uint8_t currentRateIndex = systemConfig()->activeRateProfile;
+                for (uint32_t rateCount = 0; rateCount < MAX_RATEPROFILES; rateCount++) {
                     cliDumpRateProfile(rateCount, dumpMask, &defaultConfig);
                 }
 
@@ -4149,7 +4149,7 @@ static void printConfig(char *cmdline, bool doDiff)
             cliPrint("save");
         } else {
             cliDumpProfile(systemConfig()->current_profile_index, dumpMask, &defaultConfig);
-            cliDumpRateProfile(currentProfile->activeRateProfile, dumpMask, &defaultConfig);
+            cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig);
         }
     }
 
@@ -4158,7 +4158,7 @@ static void printConfig(char *cmdline, bool doDiff)
     }
 
     if (dumpMask & DUMP_RATES) {
-        cliDumpRateProfile(currentProfile->activeRateProfile, dumpMask, &defaultConfig);
+        cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig);
     }
 #ifdef USE_PARAMETER_GROUPS
     // restore configs from copies
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index ed6eda18e4..41440c8895 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -131,7 +131,7 @@ static void resetCompassConfig(compassConfig_t* compassConfig)
 }
 #endif
 
-static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
+static void resetControlRateProfile(controlRateConfig_t *controlRateConfig)
 {
     controlRateConfig->rcRate8 = 100;
     controlRateConfig->rcYawRate8 = 100;
@@ -201,12 +201,6 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 void resetProfile(profile_t *profile)
 {
     resetPidProfile(&profile->pidProfile);
-
-    for (int rI = 0; rI<MAX_RATEPROFILES; rI++) {
-        resetControlRateConfig(&profile->controlRateProfile[rI]);
-    }
-
-    profile->activeRateProfile = 0;
 }
 
 #ifdef GPS
@@ -730,8 +724,6 @@ uint8_t getCurrentProfile(void)
 static void setProfile(uint8_t profileIndex)
 {
     currentProfile = &masterConfig.profile[profileIndex];
-    currentControlRateProfileIndex = currentProfile->activeRateProfile;
-    currentControlRateProfile = &currentProfile->controlRateProfile[currentControlRateProfileIndex];
 }
 
 uint8_t getCurrentControlRateProfile(void)
@@ -739,16 +731,16 @@ uint8_t getCurrentControlRateProfile(void)
     return currentControlRateProfileIndex;
 }
 
-static void setControlRateProfile(uint8_t profileIndex)
+static void setControlRateProfile(uint8_t controlRateProfileIndex)
 {
-    currentControlRateProfileIndex = profileIndex;
-    masterConfig.profile[getCurrentProfile()].activeRateProfile = profileIndex;
-    currentControlRateProfile = &masterConfig.profile[getCurrentProfile()].controlRateProfile[profileIndex];
+    systemConfigMutable()->activeRateProfile = controlRateProfileIndex;
+    currentControlRateProfileIndex = controlRateProfileIndex;
+    currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex);
 }
 
-controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
+const controlRateConfig_t *getControlRateConfig(uint8_t controlRateProfileIndex)
 {
-    return &masterConfig.profile[profileIndex].controlRateProfile[masterConfig.profile[profileIndex].activeRateProfile];
+    return controlRateProfiles(controlRateProfileIndex);
 }
 
 uint16_t getCurrentMinthrottle(void)
@@ -948,6 +940,7 @@ void createDefaultConfig(master_t *config)
     resetSerialConfig(&config->serialConfig);
 
     resetProfile(&config->profile[0]);
+    resetControlRateProfile(&config->controlRateProfile[0]);
 
     config->compassConfig.mag_declination = 0;
 
@@ -1267,7 +1260,7 @@ void readEEPROM(void)
 //    setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex);
 
     if (systemConfig()->current_profile_index > MAX_PROFILE_COUNT - 1) {// sanity check
-        systemConfig()->current_profile_index = 0;
+        systemConfigMutable()->current_profile_index = 0;
     }
 
     setProfile(systemConfig()->current_profile_index);
@@ -1313,7 +1306,7 @@ void changeProfile(uint8_t profileIndex)
     if (profileIndex >= MAX_PROFILE_COUNT) {
         profileIndex = MAX_PROFILE_COUNT - 1;
     }
-    systemConfig()->current_profile_index = profileIndex;
+    systemConfigMutable()->current_profile_index = profileIndex;
     writeEEPROM();
     readEEPROM();
     beeperConfirmationBeeps(profileIndex + 1);
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index be4e0ad0b8..6303b4a7c2 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -71,6 +71,7 @@ typedef enum {
 
 typedef struct systemConfig_s {
     uint8_t current_profile_index;
+    uint8_t activeRateProfile;
     uint8_t debug_mode;
     uint8_t task_statistics;
     char name[MAX_NAME_LENGTH + 1];
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index c6fd9035ae..dcc24be330 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <stdbool.h>
+#include "config/parameter_group.h"
 
 #define MAX_PID_PROCESS_DENOM       16
 #define PID_CONTROLLER_BETAFLIGHT   1
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index fc50e743bb..b2a07f7c2f 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -394,7 +394,7 @@ static void osdDrawSingleElement(uint8_t item)
         case OSD_PIDRATE_PROFILE:
         {
             const uint8_t profileIndex = systemConfig()->current_profile_index;
-            const uint8_t rateProfileIndex = masterConfig.profile[profileIndex].activeRateProfile;
+            const uint8_t rateProfileIndex = systemConfig()->activeRateProfile;
             sprintf(buff, "%d-%d", profileIndex + 1, rateProfileIndex + 1);
             break;
         }
diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
index 76e4c52101..061f37f3b6 100644
--- a/src/main/target/COLIBRI/config.c
+++ b/src/main/target/COLIBRI/config.c
@@ -50,8 +50,8 @@ void targetConfiguration(master_t *config)
     //config->rcControlsConfig.yaw_deadband = 10;
     config->compassConfig.mag_hardware = 1;
 
-    config->profile[0].controlRateProfile[0].dynThrPID = 45;
-    config->profile[0].controlRateProfile[0].tpa_breakpoint = 1700;
+    config->controlRateProfile[0].dynThrPID = 45;
+    config->controlRateProfile[0].tpa_breakpoint = 1700;
     config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
 }
 #endif
diff --git a/src/main/target/COLIBRI_RACE/config.c b/src/main/target/COLIBRI_RACE/config.c
index 2ae165a846..d79a4fa9ac 100644
--- a/src/main/target/COLIBRI_RACE/config.c
+++ b/src/main/target/COLIBRI_RACE/config.c
@@ -95,9 +95,9 @@ void targetConfiguration(master_t *config)
     config->profile[0].pidProfile.I8[YAW] = 50;
     config->profile[0].pidProfile.D8[YAW] = 20;
 
-    config->profile[0].controlRateProfile[0].rates[FD_ROLL] = 86;
-    config->profile[0].controlRateProfile[0].rates[FD_PITCH] = 86;
-    config->profile[0].controlRateProfile[0].rates[FD_YAW] = 80;
+    config->controlRateProfile[0].rates[FD_ROLL] = 86;
+    config->controlRateProfile[0].rates[FD_PITCH] = 86;
+    config->controlRateProfile[0].rates[FD_YAW] = 80;
 
     targetApplyDefaultLedStripConfig(config->ledStripConfig.ledConfigs);
 }
diff --git a/src/main/target/MULTIFLITEPICO/config.c b/src/main/target/MULTIFLITEPICO/config.c
index 6c8e8c595c..56656f9d87 100755
--- a/src/main/target/MULTIFLITEPICO/config.c
+++ b/src/main/target/MULTIFLITEPICO/config.c
@@ -83,7 +83,7 @@ void targetConfiguration(master_t *config)
     config->profile[0].pidProfile.I8[PITCH] = 62;
     config->profile[0].pidProfile.D8[PITCH] = 19;
 
-    config->profile[0].controlRateProfile[0].rcRate8 = 70;
+    config->controlRateProfile[0].rcRate8 = 70;
     config->profile[0].pidProfile.I8[PIDLEVEL] = 40;
 }
 #endif
diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c
index 7abbabf3b4..739938b866 100755
--- a/src/main/target/NAZE/config.c
+++ b/src/main/target/NAZE/config.c
@@ -73,12 +73,12 @@ void targetConfiguration(master_t *config)
         config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
 
         for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
-            config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;
-            config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 110;
-            config->profile[profileId].controlRateProfile[rateProfileId].rcExpo8 = 0;
-            config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 77;
-            config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 77;
-            config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 80;
+            config->controlRateProfile[rateProfileId].rcRate8 = 100;
+            config->controlRateProfile[rateProfileId].rcYawRate8 = 110;
+            config->controlRateProfile[rateProfileId].rcExpo8 = 0;
+            config->controlRateProfile[rateProfileId].rates[ROLL] = 77;
+            config->controlRateProfile[rateProfileId].rates[PITCH] = 77;
+            config->controlRateProfile[rateProfileId].rates[YAW] = 80;
 
             config->profile[profileId].pidProfile.dtermSetpointWeight = 200;
             config->profile[profileId].pidProfile.setpointRelaxRatio = 50;