diff --git a/src/main/config/config.c b/src/main/config/config.c
index 829a396827..752eb85fd1 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -205,11 +205,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
 #endif
 
-    pidProfile->P8[ROLL] = 45;
+    pidProfile->P8[ROLL] = 43;
     pidProfile->I8[ROLL] = 40;
     pidProfile->D8[ROLL] = 20;
-    pidProfile->P8[PITCH] = 60;
-    pidProfile->I8[PITCH] = 65;
+    pidProfile->P8[PITCH] = 58;
+    pidProfile->I8[PITCH] = 50;
     pidProfile->D8[PITCH] = 22;
     pidProfile->P8[YAW] = 70;
     pidProfile->I8[YAW] = 45;
@@ -248,7 +248,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->setpointRelaxRatio = 85;
+    pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 02f7f4e0ae..dee35d6af7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -260,10 +260,19 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
 
         //-----calculate D-term (Yaw D not yet supported)
         if (axis != YAW) {
-            if (pidProfile->setpointRelaxRatio < 100)
-                dynC = c[axis] * powerf(rcInput[axis], 2) * relaxFactor[axis] + c[axis] * (1-relaxFactor[axis]);
-            else
+            static float previousSetpoint[3];
+            dynC = c[axis];
+            if (pidProfile->setpointRelaxRatio < 100) {
                 dynC = c[axis];
+                if (setpointRate[axis] > 0) {
+                    if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
+                        dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                } else if (setpointRate[axis] < 0) {
+                    if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
+                        dynC = dynC * powerf(rcInput[axis], 2) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                }
+            }
+            previousSetpoint[axis] = setpointRate[axis];
             rD = dynC * setpointRate[axis] - PVRate;    // cr - y
             delta = rD - lastRateError[axis];
             lastRateError[axis] = rD;