diff --git a/src/main/config/config.c b/src/main/config/config.c
index 3b03fb23b6..2f047d64e4 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -203,10 +203,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->P8[ROLL] = 45;
     pidProfile->I8[ROLL] = 40;
-    pidProfile->D8[ROLL] = 25;
+    pidProfile->D8[ROLL] = 20;
     pidProfile->P8[PITCH] = 60;
     pidProfile->I8[PITCH] = 60;
-    pidProfile->D8[PITCH] = 30;
+    pidProfile->D8[PITCH] = 25;
     pidProfile->P8[YAW] = 80;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
@@ -244,7 +244,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     // Betaflight PID controller parameters
     pidProfile->ptermSetpointWeight = 75;
-    pidProfile->dtermSetpointWeight = 200;
+    pidProfile->dtermSetpointWeight = 120;
     pidProfile->pidMaxVelocityYaw = 200;
     pidProfile->toleranceBand = 20;
     pidProfile->toleranceBandReduction = 40;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ae735be925..b405a9ab4f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -194,7 +194,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
             configD[axis] = pidProfile->D8[axis];
         }
 
-        // Limit abrupt yaw inputs
+        // Limit abrupt yaw inputs / stops
         if (axis == YAW && pidProfile->pidMaxVelocityYaw) {
             float yawCurrentVelocity = setpointRate[axis] - yawPreviousRate;
             if (ABS(yawCurrentVelocity) > yawMaxVelocity) {
diff --git a/src/main/mw.c b/src/main/mw.c
index c3ebdf8299..eded995564 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -263,9 +263,7 @@ void processRcCommand(void)
     }
 
     if (readyToCalculateRate || isRXDataNew) {
-        // Don't smooth yaw axis
-        int axisToCalculate = (isRXDataNew) ? 3 : 2;
-        for (int axis = 0; axis < axisToCalculate; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
+        for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
 
         isRXDataNew = false;
 
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 167265ed78..cbb9d74818 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -29,11 +29,6 @@ const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM5  | (MAP_TO_MOTOR_OUTPUT << 8),
     PWM6  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM8  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
-    PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
     0xFFFF
 };