diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a59cc8d78f..406ce05d39 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1230,7 +1230,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d",                    masterConfig.baro_hardware);
         BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d",                     masterConfig.mag_hardware);
         BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d",            masterConfig.gyro_cal_on_first_arm);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smooth_interval:%d",               masterConfig.rxConfig.rcSmoothInterval);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d",                 masterConfig.rxConfig.rcInterpolation);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d",        masterConfig.rxConfig.rcInterpolationInterval);
         BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d",        masterConfig.rxConfig.airModeActivateThreshold);
         BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d",                masterConfig.rxConfig.serialrx_provider);
         BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d",                masterConfig.use_unsyncedPwm);
diff --git a/src/main/config/config.c b/src/main/config/config.c
index f1a88d02f5..956aae97f7 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -245,9 +245,9 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     // Betaflight PID controller parameters
     pidProfile->ptermSetpointWeight = 75;
     pidProfile->dtermSetpointWeight = 120;
-    pidProfile->pidMaxVelocityYaw = 200;
+    pidProfile->pidMaxVelocityYaw = 220;
     pidProfile->pidMaxVelocityRollPitch = 0;
-    pidProfile->toleranceBand = 20;
+    pidProfile->toleranceBand = 15;
     pidProfile->toleranceBandReduction = 40;
     pidProfile->zeroCrossAllowanceCount = 2;
     pidProfile->itermThrottleGain = 0;
@@ -476,14 +476,14 @@ static void resetConf(void)
     masterConfig.gyro_sync_denom = 8;
     masterConfig.pid_process_denom = 1;
 #elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
-    masterConfig.gyro_sync_denom = 8;
+    masterConfig.gyro_sync_denom = 1;
     masterConfig.pid_process_denom = 4;
 #else
     masterConfig.gyro_sync_denom = 4;
     masterConfig.pid_process_denom = 2;
 #endif
     masterConfig.gyro_soft_type = FILTER_PT1;
-    masterConfig.gyro_soft_lpf_hz = 100;
+    masterConfig.gyro_soft_lpf_hz = 90;
     masterConfig.gyro_soft_notch_hz = 0;
     masterConfig.gyro_soft_notch_cutoff = 150;
 
@@ -535,8 +535,8 @@ static void resetConf(void)
     masterConfig.rxConfig.rssi_channel = 0;
     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
     masterConfig.rxConfig.rssi_ppm_invert = 0;
-    masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_AUTO;
-    masterConfig.rxConfig.rcSmoothInterval = 9;
+    masterConfig.rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
+    masterConfig.rxConfig.rcInterpolationInterval = 19;
     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
     masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
     masterConfig.rxConfig.airModeActivateThreshold = 1350;
diff --git a/src/main/debug.h b/src/main/debug.h
index 2e2a90e89c..4431953f31 100644
--- a/src/main/debug.h
+++ b/src/main/debug.h
@@ -51,7 +51,7 @@ typedef enum {
     DEBUG_AIRMODE,
     DEBUG_PIDLOOP,
     DEBUG_NOTCH,
-    DEBUG_RC_SMOOTHING,
+    DEBUG_RC_INTERPOLATION,
     DEBUG_VELOCITY,
     DEBUG_DTERM_FILTER,
     DEBUG_COUNT
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 15de603629..597637a9d1 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -467,7 +467,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "AIRMODE",
     "PIDLOOP",
     "NOTCH",
-    "RC_SMOOTHING",
+    "RC_INTERPOLATION",
     "VELOCITY",
     "DFILTER",
 };
@@ -492,8 +492,8 @@ static const char * const lookupTableDeltaMethod[] = {
     "ERROR", "MEASUREMENT"
 };
 
-static const char * const lookupTableRcSmoothing[] = {
-    "OFF", "DEFAULT", "AUTO", "MANUAL"
+static const char * const lookupTableRcInterpolation[] = {
+    "OFF", "PRESET", "AUTO", "MANUAL"
 };
 
 static const char * const lookupTableLowpassType[] = {
@@ -536,7 +536,7 @@ typedef enum {
     TABLE_SUPEREXPO_YAW,
     TABLE_MOTOR_PWM_PROTOCOL,
     TABLE_DELTA_METHOD,
-    TABLE_RC_SMOOTHING,
+    TABLE_RC_INTERPOLATION,
     TABLE_LOWPASS_TYPE,
 #ifdef OSD
     TABLE_OSD,
@@ -574,7 +574,7 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
     { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
     { lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
-    { lookupTableRcSmoothing, sizeof(lookupTableRcSmoothing) / sizeof(char *) },
+    { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
     { lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
 #ifdef OSD
     { lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
@@ -635,8 +635,8 @@ const clivalue_t valueTable[] = {
     { "max_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "rssi_channel",               VAR_INT8   | MASTER_VALUE,  &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0,  MAX_SUPPORTED_RC_CHANNEL_COUNT } },
     { "rssi_scale",                 VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN,  RSSI_SCALE_MAX } },
-    { "rc_smoothing",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_RC_SMOOTHING } },
-    { "rc_smooth_interval_ms",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rcSmoothInterval, .config.minmax = { 1,  50 } },
+    { "rc_interpolation",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
+    { "rc_interpolation_interval",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.rcInterpolationInterval, .config.minmax = { 1,  50 } },
     { "rssi_ppm_invert",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
     { "input_filtering_mode",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
     { "roll_yaw_cam_mix_degrees",   VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0,  50 } },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 0d36fda478..6cf6a50057 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1041,8 +1041,8 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize8(masterConfig.rxConfig.spektrum_sat_bind);
         serialize16(masterConfig.rxConfig.rx_min_usec);
         serialize16(masterConfig.rxConfig.rx_max_usec);
-        serialize8(masterConfig.rxConfig.rcSmoothing);
-        serialize8(masterConfig.rxConfig.rcSmoothInterval);
+        serialize8(masterConfig.rxConfig.rcInterpolation);
+        serialize8(masterConfig.rxConfig.rcInterpolationInterval);
         serialize16(masterConfig.rxConfig.airModeActivateThreshold);
         break;
 
@@ -1688,8 +1688,8 @@ static bool processInCommand(void)
             masterConfig.rxConfig.rx_max_usec = read16();
         }
         if (currentPort->dataSize > 12) {
-            masterConfig.rxConfig.rcSmoothing = read8();
-            masterConfig.rxConfig.rcSmoothInterval = read8();
+            masterConfig.rxConfig.rcInterpolation = read8();
+            masterConfig.rxConfig.rcInterpolationInterval = read8();
             masterConfig.rxConfig.airModeActivateThreshold = read16();
         }
         break;
diff --git a/src/main/mw.c b/src/main/mw.c
index eded995564..b2c569e98b 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -217,15 +217,15 @@ void processRcCommand(void)
     uint16_t rxRefreshRate;
     bool readyToCalculateRate = false;
 
-    if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
+    if (masterConfig.rxConfig.rcInterpolation || flightModeFlags) {
         if (isRXDataNew) {
             // Set RC refresh rate for sampling and channels to filter
-            switch (masterConfig.rxConfig.rcSmoothing) {
+            switch (masterConfig.rxConfig.rcInterpolation) {
                 case(RC_SMOOTHING_AUTO):
                     rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
                     break;
                 case(RC_SMOOTHING_MANUAL):
-                    rxRefreshRate = 1000 * masterConfig.rxConfig.rcSmoothInterval;
+                    rxRefreshRate = 1000 * masterConfig.rxConfig.rcInterpolationInterval;
                     break;
                 case(RC_SMOOTHING_OFF):
                 case(RC_SMOOTHING_DEFAULT):
@@ -235,7 +235,7 @@ void processRcCommand(void)
 
             rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
 
-            if (debugMode == DEBUG_RC_SMOOTHING) {
+            if (debugMode == DEBUG_RC_INTERPOLATION) {
                 for (int axis = 0; axis < 2; axis++) debug[axis] = rcCommand[axis];
                 debug[3] = rxRefreshRate;
             }
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 1200e5e8f5..effd1cc526 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -121,8 +121,8 @@ typedef struct rxConfig_s {
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
-    uint8_t rcSmoothing;
-    uint8_t rcSmoothInterval;
+    uint8_t rcInterpolation;
+    uint8_t rcInterpolationInterval;
     uint8_t fpvCamAngleDegrees;             // Camera angle to be scaled into rc commands
     uint8_t max_aux_channel;
     uint16_t airModeActivateThreshold;      // Throttle setpoint where airmode gets activated