diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 34d963ee21..8a8a509bd6 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1404,16 +1404,16 @@ const clivalue_t valueTable[] = {
 #endif
 
 #ifdef USE_AIRPLANE_FCS
-    { PARAM_NAME_AFCS_PITCH_STICK_GAIN,    VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_pitch_stick_gain) },
-    { PARAM_NAME_AFCS_PITCH_DAMPING_GAIN,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_pitch_damping_gain) },
+    { PARAM_NAME_AFCS_PITCH_STICK_GAIN,           VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_stick_gain[FD_PITCH]) },
+    { PARAM_NAME_AFCS_PITCH_DAMPING_GAIN,         VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_damping_gain[FD_PITCH]) },
     { PARAM_NAME_AFCS_PITCH_DAMPING_FILTER_TIME,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 3000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_pitch_damping_filter_time) },
     { PARAM_NAME_AFCS_PITCH_STABILITY_GAIN,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_pitch_stability_gain) },
 
-    { PARAM_NAME_AFCS_ROLL_STICK_GAIN,    VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_roll_stick_gain) },
-    { PARAM_NAME_AFCS_ROLL_DAMPING_GAIN,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_roll_damping_gain) },
+    { PARAM_NAME_AFCS_ROLL_STICK_GAIN,   VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_stick_gain[FD_ROLL]) },
+    { PARAM_NAME_AFCS_ROLL_DAMPING_GAIN, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_damping_gain[FD_ROLL]) },
 
-    { PARAM_NAME_AFCS_YAW_STICK_GAIN,    VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_yaw_stick_gain) },
-    { PARAM_NAME_AFCS_YAW_DAMPING_GAIN,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_yaw_damping_gain) },
+    { PARAM_NAME_AFCS_YAW_STICK_GAIN,           VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_stick_gain[FD_YAW]) },
+    { PARAM_NAME_AFCS_YAW_DAMPING_GAIN,         VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_damping_gain[FD_YAW]) },
     { PARAM_NAME_AFCS_YAW_DAMPING_FILTER_TIME,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 3000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_yaw_damping_filter_time) },
     { PARAM_NAME_AFCS_YAW_STABILITY_GAIN,  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_yaw_stability_gain) },
 #endif
diff --git a/src/main/flight/airplane_fcs.c b/src/main/flight/airplane_fcs.c
index 122a358dbd..8badac577c 100644
--- a/src/main/flight/airplane_fcs.c
+++ b/src/main/flight/airplane_fcs.c
@@ -22,11 +22,11 @@ void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile, timeUs_t currentTimeUs
     }
 
     // Pitch channel
-    float pitchPilotCtrl = getSetpointRate(FD_PITCH) / getMaxRcRate(FD_PITCH) * pidProfile->afcs_pitch_stick_gain;
+    float pitchPilotCtrl = getSetpointRate(FD_PITCH) / getMaxRcRate(FD_PITCH) * pidProfile->afcs_stick_gain[FD_PITCH];
     float gyroPitch = gyro.gyroADCf[FD_PITCH];
     float gyroPitchLow = pt1FilterApply(&pidRuntime.afcsPitchDampingLowpass, gyroPitch);
     float gyroPitchHigh = gyroPitch - gyroPitchLow;
-    float pitchDampingCtrl = -1.0f * gyroPitchHigh * (pidProfile->afcs_pitch_damping_gain * 0.001f);
+    float pitchDampingCtrl = -1.0f * gyroPitchHigh * (pidProfile->afcs_damping_gain[FD_PITCH] * 0.001f);
     float pitchStabilityCtrl = (acc.accADC.z - 1.0f) * (pidProfile->afcs_pitch_stability_gain * 0.01f);
     pidData[FD_PITCH].Sum = pitchPilotCtrl + pitchDampingCtrl + pitchStabilityCtrl;
     pidData[FD_PITCH].Sum = constrainf(pidData[FD_PITCH].Sum, -100.0f, 100.0f) / 100.0f * 500.0f;
@@ -37,8 +37,8 @@ void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile, timeUs_t currentTimeUs
     pidData[FD_PITCH].P = 10.0f * pitchStabilityCtrl;
 
     // Roll channel
-    float rollPilotCtrl = getSetpointRate(FD_ROLL) / getMaxRcRate(FD_ROLL) * (pidProfile->afcs_roll_stick_gain);
-    float rollDampingCtrl = -1.0f * gyro.gyroADCf[FD_ROLL] * (pidProfile->afcs_roll_damping_gain * 0.001f);
+    float rollPilotCtrl = getSetpointRate(FD_ROLL) / getMaxRcRate(FD_ROLL) * (pidProfile->afcs_stick_gain[FD_ROLL]);
+    float rollDampingCtrl = -1.0f * gyro.gyroADCf[FD_ROLL] * (pidProfile->afcs_damping_gain[FD_ROLL] * 0.001f);
     pidData[FD_ROLL].Sum = rollPilotCtrl + rollDampingCtrl;
     pidData[FD_ROLL].Sum = constrainf(pidData[FD_ROLL].Sum, -100.0f, 100.0f) / 100.0f * 500.0f;
 
@@ -47,11 +47,11 @@ void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile, timeUs_t currentTimeUs
     pidData[FD_ROLL].D = 10.0f * rollDampingCtrl;
 
     // Yaw channel
-    float yawPilotCtrl = getSetpointRate(FD_YAW) / getMaxRcRate(FD_YAW) * (pidProfile->afcs_yaw_stick_gain);
+    float yawPilotCtrl = getSetpointRate(FD_YAW) / getMaxRcRate(FD_YAW) * (pidProfile->afcs_stick_gain[FD_YAW]);
     float gyroYaw = gyro.gyroADCf[FD_YAW];
     float gyroYawLow = pt1FilterApply(&pidRuntime.afcsYawDampingLowpass, gyroYaw);
     float gyroYawHigh = gyroYaw - gyroYawLow;
-    float yawDampingCtrl = gyroYawHigh * (pidProfile->afcs_yaw_damping_gain * 0.001f);
+    float yawDampingCtrl = gyroYawHigh * (pidProfile->afcs_damping_gain[FD_YAW] * 0.001f);
     float yawStabilityCtrl = acc.accADC.y * (pidProfile->afcs_yaw_stability_gain * 0.01f);
     pidData[FD_YAW].Sum = yawPilotCtrl + yawDampingCtrl + yawStabilityCtrl;
     pidData[FD_YAW].Sum = constrainf(pidData[FD_YAW].Sum, -100.0f, 100.0f) / 100.0f * 500.0f;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 21eb66423c..fa28ecea2e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -271,14 +271,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .chirp_frequency_end_deci_hz = 6000,
         .chirp_time_seconds = 20,
 #ifdef USE_AIRPLANE_FCS
-        .afcs_pitch_stick_gain = 100,
-        .afcs_pitch_damping_gain = 20,
+        .afcs_stick_gain = { 100, 100, 100 },
+        .afcs_damping_gain = { 20, 25, 500 },
         .afcs_pitch_damping_filter_time = 100,
         .afcs_pitch_stability_gain = 0,
-        .afcs_roll_stick_gain = 100,
-        .afcs_roll_damping_gain = 25,
-        .afcs_yaw_stick_gain = 100,
-        .afcs_yaw_damping_gain = 500,
         .afcs_yaw_damping_filter_time = 3000,
         .afcs_yaw_stability_gain = 0,
 #endif
@@ -1549,7 +1545,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
     }
 
 #ifdef USE_WING
-    // When PASSTHRU_MODE is active - reset all PIDs to zero so the aircraft won't snap out of control 
+    // When PASSTHRU_MODE is active - reset all PIDs to zero so the aircraft won't snap out of control
     // because of accumulated PIDs once PASSTHRU_MODE gets disabled.
     bool isFixedWingAndPassthru = isFixedWing() && FLIGHT_MODE(PASSTHRU_MODE);
 #endif // USE_WING