diff --git a/src/main/config/config.c b/src/main/config/config.c
index d838f5d4c6..16e51c8fac 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -334,7 +334,6 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
 
 void resetMixerConfig(mixerConfig_t *mixerConfig) {
     mixerConfig->yaw_motor_direction = 1;
-    mixerConfig->airmode_saturation_limit = 30;
     mixerConfig->yaw_jump_prevention_limit = 200;
 #ifdef USE_SERVOS
     mixerConfig->tri_unarmed_servo = 1;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 212fb17238..ced172bc90 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -854,11 +854,10 @@ void mixTable(void)
         for (i = 0; i < motorCount; i++) {
             rollPitchYawMix[i] =  qMultiply(mixReduction,rollPitchYawMix[i]);
         }
-        // Get the maximum correction by setting offset to center. Only active below 50% of saturation levels to reduce spazzing out in crashes
-        if ((qPercent(mixReduction) > mixerConfig->airmode_saturation_limit) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+        // Get the maximum correction by setting offset to center
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
             throttleMin = throttleMax = throttleMin + (throttleRange / 2);
         }
-
     } else {
         motorLimitReached = false;
         throttleMin = throttleMin + (rollPitchYawMixRange / 2);
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 43165cdef5..eb324c6768 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -71,7 +71,6 @@ typedef struct mixer_s {
 
 typedef struct mixerConfig_s {
     int8_t yaw_motor_direction;
-    uint8_t airmode_saturation_limit;       // Percentage in airmode where the mixer stops trying to get maximum possible correction
     uint16_t yaw_jump_prevention_limit;     // make limit configurable (original fixed value was 100)
 #ifdef USE_SERVOS
     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 9b1ad502f5..164f3ea9ad 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -630,7 +630,6 @@ const clivalue_t valueTable[] = {
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, .config.minmax = { -1,  1 } },
 
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1,  1 } },
-    { "airmode_saturation_limit",   VAR_UINT8  | MASTER_VALUE, &masterConfig.mixerConfig.airmode_saturation_limit, .config.minmax = { 0,  100 } },
     { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW,  YAW_JUMP_PREVENTION_LIMIT_HIGH } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
 #ifdef USE_SERVOS
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index d9399888e8..e79efaf574 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -113,13 +113,12 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             masterConfig.gyro_lpf = 0;
             gyroSampleRate = 125;
             maxDivider = 8;
+            masterConfig.pid_process_denom = 1;
             if (looptime < 250) {
                 masterConfig.acc_hardware = 1;
                 masterConfig.baro_hardware = 1;
                 masterConfig.mag_hardware = 1;
                 masterConfig.pid_process_denom = 2;
-            } else if (looptime < 1000) {
-                masterConfig.pid_process_denom = 1;
             }
         } else {
             masterConfig.gyro_lpf = 1;
@@ -133,6 +132,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             masterConfig.mag_hardware = 1;
             gyroSampleRate = 125;
             maxDivider = 8;
+            masterConfig.pid_process_denom = 1;
             if (looptime < 250) {
                 masterConfig.pid_process_denom = 3;
             } else if (looptime < 500) {
@@ -141,12 +141,6 @@ void setGyroSamplingSpeed(uint16_t looptime) {
                 } else {
                     masterConfig.pid_process_denom = 2;
                 }
-            } else {
-                if (currentProfile->pidProfile.pidController == 2) {
-                    masterConfig.pid_process_denom = 2;
-                } else {
-                    masterConfig.pid_process_denom = 1;
-                }
             }
         } else {
             masterConfig.gyro_lpf = 1;