diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0f8d30fb9b..9cea9bad7a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -72,9 +72,9 @@ pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we
 pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
 #endif
 
-void setTargetPidLooptime(uint8_t pidProcessDenom)
+void setTargetPidLooptime(uint32_t pidLooptime)
 {
-    targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
+    targetPidLooptime = pidLooptime;
 }
 
 void pidResetErrorGyroState(void)
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 7a9092b622..a13c366a27 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -133,5 +133,5 @@ extern uint8_t PIDweight[3];
 void pidSetController(pidControllerType_e type);
 void pidResetErrorGyroState(void);
 void pidStabilisationState(pidStabilisationState_e pidControllerState);
-void setTargetPidLooptime(uint8_t pidProcessDenom);
+void setTargetPidLooptime(uint32_t pidLooptime);
 
diff --git a/src/main/main.c b/src/main/main.c
index fa00e24bcb..608486d5b6 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -109,6 +109,8 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
+#define LOOPTIME_SUSPEND_TIME 5  // Prevent too long busy wait times
+
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -600,7 +602,7 @@ void init(void)
         masterConfig.gyro_sync_denom = 1;
     }
 
-    setTargetPidLooptime(masterConfig.pid_process_denom); // Initialize pid looptime
+    setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
 
 
 #ifdef BLACKBOX
@@ -678,7 +680,7 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + 5); // Add a littlebit of extra time to reduce busy wait
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
     setTaskEnabled(TASK_GYROPID, true);
 
     if (sensors(SENSOR_ACC)) {