diff --git a/src/main/fc/fc_rc.c b/src/main/fc/fc_rc.c
index 2511fcfd5c..bf2def8ba9 100755
--- a/src/main/fc/fc_rc.c
+++ b/src/main/fc/fc_rc.c
@@ -189,7 +189,7 @@ void processRcCommand(void)
         }
     }
 
-    if (rxConfig()->rcInterpolation || flightModeFlags) {
+    if (rxConfig()->rcInterpolation) {
          // Set RC refresh rate for sampling and channels to filter
         switch(rxConfig()->rcInterpolation) {
             case(RC_SMOOTHING_AUTO):
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 09d7a18e3b..46411982ec 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -436,9 +436,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
             gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
 
-            float dynC = dtermSetpointWeight;
-            if (pidProfile->setpointRelaxRatio < 100) {
-                dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
+            float dynC = 0;
+            if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
+                dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
             }
             const float rD = dynC * currentPidSetpoint - gyroRateFiltered;    // cr - y
             // Divide rate change by dT to get differential (ie dr/dt)