diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 4a098709c9..58b33cead4 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1214,7 +1214,7 @@ static bool blackboxWriteSysinfo()
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
-                blackboxPrintfHeaderLine("vbatscale", "%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
+                blackboxPrintfHeaderLine("vbat_scale", "%u", voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
             } else {
                 xmitState.headerIndex += 2; // Skip the next two vbat fields too
             }
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 292a0d551e..d366954982 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -493,7 +493,6 @@ typedef union {
     cliMinMaxConfig_t minmax;
 } cliValueConfig_t;
 
-#ifdef USE_PARAMETER_GROUPS
 typedef struct {
     const char *name;
     const uint8_t type; // see cliValueFlag_e
@@ -975,7 +974,6 @@ displayPortProfile_t displayPortProfileMax7456Copy;
 static pidConfig_t pidConfigCopy;
 static controlRateConfig_t controlRateProfilesCopy[CONTROL_RATE_PROFILE_COUNT];
 static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT];
-#endif // USE_PARAMETER_GROUPS
 
 static void cliPrint(const char *str)
 {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 302e9ec8b9..3700fdd749 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -273,13 +273,13 @@ static float calcHorizonLevelStrength(void) {
 
 static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
     // calculate error angle and limit the angle to the max inclination
-    float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
+    float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
 #ifdef GPS
-    errorAngle += GPS_angle[axis];
+    angle += GPS_angle[axis];
 #endif
-    errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
-    errorAngle = errorAngle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
-    if(FLIGHT_MODE(ANGLE_MODE)) {
+    angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
+    const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
+    if (FLIGHT_MODE(ANGLE_MODE)) {
         // ANGLE mode - control is angle based, so control loop is needed
         currentPidSetpoint = errorAngle * levelGain;
     } else {