diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 57ecc67ba9..3ad2818c3c 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -130,6 +130,7 @@ static long cmsx_PidWriteback(const OSD_Entry *self)
         masterConfig.profile[profileIndex].pidProfile.I8[i] = tempPid[i][1];
         masterConfig.profile[profileIndex].pidProfile.D8[i] = tempPid[i][2];
     }
+    pidInitConfig(&currentProfile->pidProfile);
 
     return 0;
 }
@@ -248,6 +249,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
 
     masterConfig.profile[profileIndex].pidProfile.dtermSetpointWeight = cmsx_dtermSetpointWeight;
     masterConfig.profile[profileIndex].pidProfile.setpointRelaxRatio = cmsx_setpointRelaxRatio;
+    pidInitConfig(&currentProfile->pidProfile);
 
     masterConfig.profile[profileIndex].pidProfile.P8[PIDLEVEL] = cmsx_angleStrength;
     masterConfig.profile[profileIndex].pidProfile.I8[PIDLEVEL] = cmsx_horizonStrength;
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 96061c5b51..0e95b485c1 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -579,7 +579,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
         case ADJUSTMENT_ROLL_D:
             newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
             pidProfile->D8[PIDROLL] = newValue;
-                blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
             break;
         case ADJUSTMENT_YAW_P:
             newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
@@ -676,7 +676,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
                 continue;
             }
 
-            applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
+            applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
+            pidInitConfig(pidProfile);
         } else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
             uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
             uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index 5774973293..b4d99b2166 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -708,6 +708,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
                 bstWrite8(currentProfile->pidProfile.I8[i]);
                 bstWrite8(currentProfile->pidProfile.D8[i]);
             }
+            pidInitConfig(&currentProfile->pidProfile);
             break;
         case BST_PIDNAMES:
             bstWriteNames(pidnames);