diff --git a/src/main/config/config.c b/src/main/config/config.c
index 22cd6b94f1..28b4dbc0e9 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -247,7 +247,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->ptermSRateWeight = 100;
+    pidProfile->ptermSRateWeight = 85;
     pidProfile->dtermSetpointWeight = 150;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
@@ -488,8 +488,8 @@ void createDefaultConfig(master_t *config)
 #endif
     config->gyro_soft_type = FILTER_PT1;
     config->gyro_soft_lpf_hz = 90;
-    config->gyro_soft_notch_hz = 220;
-    config->gyro_soft_notch_cutoff = 110;
+    config->gyro_soft_notch_hz = 0;
+    config->gyro_soft_notch_cutoff = 130;
 
     config->debug_mode = DEBUG_NONE;
 
diff --git a/src/main/mw.c b/src/main/mw.c
index de92425d56..9c7bf171e7 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -203,7 +203,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
         rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
         if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
             ptermSetpointRate[axis] = angleRate * rcSuperfactor;
-            if (currentProfile->pidProfile.ptermSRateWeight < 100) {
+            if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW) {
                 const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
                 angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
             } else {