diff --git a/src/main/config/config.c b/src/main/config/config.c
index b66c8838c0..330561d7e8 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -154,7 +154,7 @@ static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
     accelerometerTrims->values.yaw = 0;
 }
 
-static void resetPidProfile(pidProfile_t *pidProfile)
+void resetPidProfile(pidProfile_t *pidProfile)
 {
 
 #if (defined(STM32F10X))
@@ -169,7 +169,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->P8[PITCH] = 50;
     pidProfile->I8[PITCH] = 40;
     pidProfile->D8[PITCH] = 18;
-    pidProfile->P8[YAW] = 90;
+    pidProfile->P8[YAW] = 80;
     pidProfile->I8[YAW] = 45;
     pidProfile->D8[YAW] = 20;
     pidProfile->P8[PIDALT] = 50;
@@ -194,10 +194,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->yaw_lpf_hz = 80;
-    pidProfile->rollPitchItermIgnoreRate = 200;
+    pidProfile->rollPitchItermIgnoreRate = 180;
     pidProfile->yawItermIgnoreRate = 35;
-    pidProfile->dterm_lpf_hz = 50;    // filtering ON by default
-    pidProfile->deltaMethod = DELTA_FROM_ERROR;
+    pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
+    pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
     pidProfile->dynamic_pid = 1;
 
 #ifdef GTUNE
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index d50a8caeda..ab195fa8fd 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1500,7 +1500,7 @@ static bool processInCommand(void)
         break;
 
     case MSP_SET_RESET_CURR_PID:
-        //resetPidProfile(&currentProfile->pidProfile);
+        resetPidProfile(&currentProfile->pidProfile);
         break;
 
     case MSP_SET_SENSOR_ALIGNMENT:
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index b22955cead..8fe83d2445 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -166,6 +166,8 @@ void gyroUpdate(void)
                 gyroADCf[axis] = applyBiQuadFilter((float) gyroADC[axis], &gyroFilterState[axis]);
                 gyroADC[axis] = lrintf(gyroADCf[axis]);
             }
+        } else {
+            gyroADCf[axis] = gyroADC[axis]; // Otherwise float pid controller will not have gyro input when filter disabled
         }
     }
 }
diff --git a/src/main/version.h b/src/main/version.h
index c973dcd678..5ec30cdd32 100644
--- a/src/main/version.h
+++ b/src/main/version.h
@@ -16,8 +16,8 @@
  */
 
 #define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
-#define FC_VERSION_MINOR            8  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      2  // increment when a bug is fixed
+#define FC_VERSION_MINOR            9  // increment when a minor release is made (small new feature, change etc)
+#define FC_VERSION_PATCH_LEVEL      0  // increment when a bug is fixed
 
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
diff --git a/src/main/version.h.save b/src/main/version.h.save
deleted file mode 100644
index 91390c7c6c..0000000000
--- a/src/main/version.h.save
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#define FC_VERSION_MAJOR            2  // increment when a major release is made (big new feature, etc)
-#define FC_VERSION_MINOR            3  // increment when a minor release is made (small new feature, change etc)
-#define FC_VERSION_PATCH_LEVEL      5  // increment when a bug is fixed
-
-#define STR_HELPER(x) #x
-#define STR(x) STR_HELPER(x)
-#define FC_VERSION_STRING STR(FC_VERSION_MAJOR) "." STR(FC_VERSION_MINOR) "." STR(FC_VERSION_PATCH_LEVEL)
-
-#define MW_VERSION              231
-
-extern const char* const targetName;
-
-#define GIT_SHORT_REVISION_LENGTH   7 // lower case hexadecimal digits.
-extern const char* const shortGitRevision;
-
-#define BUILD_DATE_LENGTH 11
-extern const char* const buildDate;  // "MMM DD YYYY" MMM = Jan/Feb/...
-
-#define BUILD_TIME_LENGTH 8
-extern const char* const buildTime;  // "HH:MM:SS"