diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c
index e1563ad9e8..297f78438e 100644
--- a/src/main/flight/pid_init.c
+++ b/src/main/flight/pid_init.c
@@ -403,8 +403,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
             pidRuntime.dMinPercent[axis] = 0;
         }
     }
-    pidRuntime.dMinGyroGain = pidProfile->d_min_gain * D_MIN_GAIN_FACTOR / D_MIN_LOWPASS_HZ;
-    pidRuntime.dMinSetpointGain = pidProfile->d_min_gain * D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_advance * pidRuntime.pidFrequency / (100 * D_MIN_LOWPASS_HZ);
+    pidRuntime.dMinGyroGain = D_MIN_GAIN_FACTOR * pidProfile->d_min_gain / D_MIN_LOWPASS_HZ;
+    pidRuntime.dMinSetpointGain = D_MIN_SETPOINT_GAIN_FACTOR * pidProfile->d_min_gain * pidProfile->d_min_advance / 100.0f / D_MIN_LOWPASS_HZ;
     // lowpass included inversely in gain since stronger lowpass decreases peak effect
 #endif