diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 5b0ae97aa0..a35e051e6a 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -836,10 +836,6 @@ void mixTable(void)
         throttleMax = throttleMax - (rollPitchYawMixRange / 2);
     }
 
-    // adjust feedback to scale PID error inputs to our limitations.
-    errorLimiter = constrainf(((float)throttleRange / rollPitchYawMixRange), 0.1f, 1.0f);
-    if (debugMode == DEBUG_AIRMODE) debug[1] = errorLimiter * 100;
-
     // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
     // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
     for (i = 0; i < motorCount; i++) {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e4702b30d7..0c08f64ce7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -323,7 +323,7 @@ static void pidInteger(const pidProfile_t *pidProfile, uint16_t max_angle_inclin
         uint16_t dynamicFactor = (1 << 8) - constrain(((ABS(AngleRateTmp) << 6) / resetRate), 0, 1 << 8);
         uint16_t dynamicKi = (pidProfile->I8[axis] * dynamicFactor) >> 8;
 
-        errorGyroI[axis] = errorGyroI[axis] + ((uint16_t)targetPidLooptime >> 11) * dynamicKi;
+        errorGyroI[axis] = errorGyroI[axis] + ((RateError * (uint16_t)targetPidLooptime) >> 11) * dynamicKi;
 
         // limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
         // I coefficient (I8) moved before integration to make limiting independent from PID settings