diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 42cfe7f9cb..d123250484 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -523,13 +523,10 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
     UNUSED(rxConfig);
 
     float delta, RCfactor, rcCommandAxis, MainDptCut, gyroDataQuant;
-    float PTerm = 0.0f, ITerm = 0.0f, DTerm = 0.0f, PTermACC = 0.0f, ITermACC = 0.0f, ITermGYRO = 0.0f, error = 0.0f, prop = 0.0f;
+    float PTerm, ITerm, DTerm, PTermACC = 0.0f, ITermACC = 0.0f, ITermGYRO, error, prop = 0.0f;
     static float lastGyro[2] = { 0.0f, 0.0f }, lastDTerm[2] = { 0.0f, 0.0f };
-    float tmp0flt;
-    int32_t tmp0;
     uint8_t axis;
-    float ACCDeltaTimeINS = 0.0f;
-    float FLOATcycleTime = 0.0f;
+    float ACCDeltaTimeINS, FLOATcycleTime, Mwii3msTimescale;
 
 //    MainDptCut = RCconstPI / (float)cfg.maincuthz;                           // Initialize Cut off frequencies for mainpid D
     MainDptCut = RCconstPI / MAIN_CUT_HZ;                                      // maincuthz (default 12Hz, Range 1-50Hz), hardcoded for now
@@ -542,8 +539,8 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
     }
 
     for (axis = 0; axis < 2; axis++) {
-        tmp0 = (int32_t)((float)gyroData[axis] * 0.3125f);                     // Multiwii masks out the last 2 bits, this has the same idea
-        gyroDataQuant = (float)tmp0 * 3.2f;                                    // but delivers more accuracy and also reduces jittery flight
+        int32_t tmp = (int32_t)((float)gyroData[axis] * 0.3125f);             // Multiwii masks out the last 2 bits, this has the same idea
+        gyroDataQuant = (float)tmp * 3.2f;                                    // but delivers more accuracy and also reduces jittery flight
         rcCommandAxis = (float)rcCommand[axis];                                // Calculate common values for pid controllers
         if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
 #ifdef GPS
@@ -558,8 +555,8 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
             }
 #endif
             PTermACC = error * (float)pidProfile->P8[PIDLEVEL] * 0.008f;
-            tmp0flt = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
-            PTermACC = constrain(PTermACC, -tmp0flt, +tmp0flt);
+            float limitf = (float)pidProfile->D8[PIDLEVEL] * 5.0f;
+            PTermACC = constrain(PTermACC, -limitf, +limitf);
             errorAngleIf[axis] = constrain(errorAngleIf[axis] + error * ACCDeltaTimeINS, -30.0f, +30.0f);
             ITermACC = errorAngleIf[axis] * (float)pidProfile->I8[PIDLEVEL] * 0.08f;
         }
@@ -602,37 +599,37 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 #endif
     }
 
-    tmp0flt = (int32_t)FLOATcycleTime & (int32_t)~3;                          // Filter last 2 bit jitter
-    tmp0flt /= 3000.0f;
+    Mwii3msTimescale = (int32_t)FLOATcycleTime & (int32_t)~3;                  // Filter last 2 bit jitter
+    Mwii3msTimescale /= 3000.0f;
 
     if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
         PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->yawRate * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;
-        tmp0 = lrintf(gyroData[FD_YAW] * 0.25f);
-        PTerm = rcCommand[FD_YAW] - tmp0 * PTerm / 80;
-        if ((ABS(tmp0) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) {
+        int32_t tmp = lrintf(gyroData[FD_YAW] * 0.25f);
+        PTerm = rcCommand[FD_YAW] - tmp * PTerm / 80;
+        if ((ABS(tmp) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) {
             errorGyroI[FD_YAW] = 0;
         } else {
-            error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp0;
-            errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * tmp0flt), -16000, +16000); // WindUp
+            error = ((int32_t)rcCommand[FD_YAW] * 80 / (int32_t)pidProfile->P8[FD_YAW]) - tmp;
+            errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * Mwii3msTimescale), -16000, +16000); // WindUp
             ITerm = (errorGyroI[FD_YAW] / 125 * pidProfile->I8[FD_YAW]) >> 6;
         }
     } else {
-        tmp0 = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->yawRate << 1) + 40)) >> 5;
-        error = tmp0 - lrintf(gyroData[FD_YAW] * 0.25f);                       // Less Gyrojitter works actually better
+        int32_t tmp = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->yawRate << 1) + 40)) >> 5;
+        error = tmp - lrintf(gyroData[FD_YAW] * 0.25f);                       // Less Gyrojitter works actually better
 
-        if (ABS(tmp0) > 50) {
+        if (ABS(tmp) > 50) {
             errorGyroI[FD_YAW] = 0;
         } else {
-            errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * tmp0flt), -268435454, +268435454);
+            errorGyroI[FD_YAW] = constrain(errorGyroI[FD_YAW] + (int32_t)(error * (float)pidProfile->I8[FD_YAW] * Mwii3msTimescale), -268435454, +268435454);
         }
 
         ITerm = constrain(errorGyroI[FD_YAW] >> 13, -GYRO_I_MAX, +GYRO_I_MAX);
         PTerm = ((int32_t)error * (int32_t)pidProfile->P8[FD_YAW]) >> 6;
 
         if (motorCount >= 4) { // Constrain FD_YAW by D value if not servo driven in that case servolimits apply
-            tmp0 = 300;
-            if (pidProfile->D8[FD_YAW]) tmp0 -= (int32_t)pidProfile->D8[FD_YAW];
-            PTerm = constrain(PTerm, -tmp0, tmp0);
+            int32_t limit = 300;
+            if (pidProfile->D8[FD_YAW]) limit -= (int32_t)pidProfile->D8[FD_YAW];
+            PTerm = constrain(PTerm, -limit, limit);
         }
     }
     axisPID[FD_YAW] = PTerm + ITerm;