diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index de6cfd23d0..8c9828487f 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -3674,7 +3674,7 @@ static void cliProfile(char *cmdline)
         return;
     } else {
         const int i = atoi(cmdline);
-        if (i >= 0 && i < MAX_PROFILE_COUNT) {
+        if (i >= 0 && i < PID_PROFILE_COUNT) {
             changePidProfile(i);
             cliProfile("");
         } else {
@@ -3701,7 +3701,7 @@ static void cliRateProfile(char *cmdline)
 
 static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
 {
-    if (pidProfileIndex >= MAX_PROFILE_COUNT) {
+    if (pidProfileIndex >= PID_PROFILE_COUNT) {
         // Faulty values
         return;
     }
@@ -5118,7 +5118,7 @@ static void printConfig(char *cmdline, bool doDiff)
         dumpAllValues(MASTER_VALUE, dumpMask);
 
         if (dumpMask & DUMP_ALL) {
-            for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+            for (uint32_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
                 cliDumpPidProfile(pidProfileIndex, dumpMask);
             }
             cliPrintHashLine("restore original profile selection");
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index fa3f12add9..e89145702e 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1012,6 +1012,7 @@ const clivalue_t valueTable[] = {
 #endif
 
     { "motor_output_limit",       VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { MOTOR_OUTPUT_LIMIT_PERCENT_MIN, MOTOR_OUTPUT_LIMIT_PERCENT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
+    { "auto_profile_cell_count",   VAR_INT8 | PROFILE_VALUE,  .config.minmax = { AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT }, PG_PID_PROFILE, offsetof(pidProfile_t, auto_profile_cell_count) },
 
 #ifdef USE_LAUNCH_CONTROL
     { "launch_control_mode",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index b2c9be2810..ec640f43d9 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -52,6 +52,7 @@
 
 #include "pg/pg.h"
 
+#include "sensors/battery.h"
 #include "sensors/gyro.h"
 
 
@@ -326,6 +327,7 @@ static uint8_t  cmsx_throttleBoost;
 static uint16_t cmsx_itermAcceleratorGain;
 static uint16_t cmsx_itermThrottleThreshold;
 static uint8_t  cmsx_motorOutputLimit;
+static int8_t   cmsx_autoProfileCellCount;
 
 static long cmsx_profileOtherOnEnter(void)
 {
@@ -344,6 +346,7 @@ static long cmsx_profileOtherOnEnter(void)
 
     cmsx_throttleBoost = pidProfile->throttle_boost;
     cmsx_motorOutputLimit = pidProfile->motor_output_limit;
+    cmsx_autoProfileCellCount = pidProfile->auto_profile_cell_count;
 
     return 0;
 }
@@ -365,6 +368,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
 
     pidProfile->throttle_boost = cmsx_throttleBoost;
     pidProfile->motor_output_limit = cmsx_motorOutputLimit;
+    pidProfile->auto_profile_cell_count = cmsx_autoProfileCellCount;
 
     return 0;
 }
@@ -386,6 +390,8 @@ static OSD_Entry cmsx_menuProfileOtherEntries[] = {
 #endif
     { "MTR OUT LIM %",OME_UINT8, NULL, &(OSD_UINT8_t) { &cmsx_motorOutputLimit, MOTOR_OUTPUT_LIMIT_PERCENT_MIN,  MOTOR_OUTPUT_LIMIT_PERCENT_MAX,  1}, 0 },
 
+    { "AUTO CELL CNT", OME_INT8, NULL, &(OSD_INT8_t) { &cmsx_autoProfileCellCount, AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT, 1}, 0 },
+
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
 };
@@ -695,7 +701,7 @@ static OSD_Entry cmsx_menuImuEntries[] =
 {
     { "-- PROFILE --", OME_Label, NULL, NULL, 0},
 
-    {"PID PROF",  OME_UINT8,   cmsx_profileIndexOnChange,     &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, MAX_PROFILE_COUNT, 1},    0},
+    {"PID PROF",  OME_UINT8,   cmsx_profileIndexOnChange,     &(OSD_UINT8_t){ &tmpPidProfileIndex, 1, PID_PROFILE_COUNT, 1},    0},
     {"PID",       OME_Submenu, cmsMenuChange,                 &cmsx_menuPid,                                                 0},
     {"MISC PP",   OME_Submenu, cmsMenuChange,                 &cmsx_menuProfileOther,                                        0},
     {"FILT PP",   OME_Submenu, cmsMenuChange,                 &cmsx_menuFilterPerProfile,                                    0},
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 4ccca941b1..7cac2eef8d 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -194,7 +194,7 @@ static void validateAndFixConfig(void)
     }
     loadControlRateProfile();
 
-    if (systemConfig()->pidProfileIndex >= MAX_PROFILE_COUNT) {
+    if (systemConfig()->pidProfileIndex >= PID_PROFILE_COUNT) {
         systemConfigMutable()->pidProfileIndex = 0;
     }
     loadPidProfile();
@@ -215,6 +215,10 @@ static void validateAndFixConfig(void)
         currentPidProfile->motor_output_limit = 100;
     }
 
+    if (currentPidProfile->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || currentPidProfile->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
+        currentPidProfile->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
+    }
+
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
         featureDisable(FEATURE_3D);
 
@@ -286,7 +290,7 @@ static void validateAndFixConfig(void)
     }
 
     if (!rcSmoothingIsEnabled() || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T) {
-        for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
+        for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
             pidProfilesMutable(i)->pid[PID_ROLL].F = 0;
             pidProfilesMutable(i)->pid[PID_PITCH].F = 0;
         }
@@ -296,7 +300,7 @@ static void validateAndFixConfig(void)
         (rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPY &&
          rxConfig()->rcInterpolationChannels != INTERPOLATION_CHANNELS_RPYT)) {
 
-        for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
+        for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
             pidProfilesMutable(i)->pid[PID_YAW].F = 0;
         }
     }
@@ -306,7 +310,7 @@ static void validateAndFixConfig(void)
         !(rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPYT
         || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_T
         || rxConfig()->rcInterpolationChannels == INTERPOLATION_CHANNELS_RPT)) {
-        for (unsigned i = 0; i < MAX_PROFILE_COUNT; i++) {
+        for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
             pidProfilesMutable(i)->throttle_boost = 0;
         }
     }
@@ -630,9 +634,34 @@ void saveConfigAndNotify(void)
     beeperConfirmationBeeps(1);
 }
 
+void changePidProfileFromCellCount(uint8_t cellCount)
+{
+    if (currentPidProfile->auto_profile_cell_count == cellCount || currentPidProfile->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
+        return;
+    }
+
+    unsigned profileIndex = (systemConfig()->pidProfileIndex + 1) % PID_PROFILE_COUNT;
+    int matchingProfileIndex = -1;
+    while (profileIndex != systemConfig()->pidProfileIndex) {
+        if (pidProfiles(profileIndex)->auto_profile_cell_count == cellCount) {
+            matchingProfileIndex = profileIndex;
+
+            break;
+        } else if (matchingProfileIndex < 0 && pidProfiles(profileIndex)->auto_profile_cell_count == AUTO_PROFILE_CELL_COUNT_STAY) {
+            matchingProfileIndex = profileIndex;
+        }
+
+        profileIndex = (profileIndex + 1) % PID_PROFILE_COUNT;
+    }
+
+    if (matchingProfileIndex >= 0) {
+        changePidProfile(matchingProfileIndex);
+    }
+}
+
 void changePidProfile(uint8_t pidProfileIndex)
 {
-    if (pidProfileIndex < MAX_PROFILE_COUNT) {
+    if (pidProfileIndex < PID_PROFILE_COUNT) {
         systemConfigMutable()->pidProfileIndex = pidProfileIndex;
         loadPidProfile();
 
diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index f1df0e54e2..bafae9d195 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -65,6 +65,7 @@ void validateAndFixGyroConfig(void);
 
 uint8_t getCurrentPidProfileIndex(void);
 void changePidProfile(uint8_t pidProfileIndex);
+void changePidProfileFromCellCount(uint8_t cellCount);
 struct pidProfile_s;
 void resetPidProfile(struct pidProfile_s *profile);
 
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 09ef8955b3..b535ae43b3 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -29,12 +29,10 @@
 #include "build/debug.h"
 
 #include "common/axis.h"
-#include "common/maths.h"
 #include "common/filter.h"
+#include "common/maths.h"
 
 #include "config/config_reset.h"
-#include "pg/pg.h"
-#include "pg/pg_ids.h"
 
 #include "drivers/sound_beeper.h"
 #include "drivers/time.h"
@@ -42,22 +40,25 @@
 #include "fc/controlrate_profile.h"
 #include "fc/core.h"
 #include "fc/rc.h"
-
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "flight/pid.h"
-#include "flight/imu.h"
 #include "flight/gps_rescue.h"
+#include "flight/imu.h"
 #include "flight/mixer.h"
 
 #include "io/gps.h"
 
-#include "sensors/gyro.h"
-#include "sensors/acceleration.h"
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
 
+#include "sensors/acceleration.h"
+#include "sensors/battery.h"
+#include "sensors/gyro.h"
 #include "sensors/rpm_filter.h"
 
+#include "pid.h"
+
 const char pidNames[] =
     "ROLL;"
     "PITCH;"
@@ -119,7 +120,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 8);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 9);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -192,6 +193,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .dterm_cut_range_hz = 40,
         .dterm_cut_lowpass_hz = 7,
         .motor_output_limit = 100,
+        .auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 150;
@@ -207,7 +209,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
 
 void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)
 {
-    for (int i = 0; i < MAX_PROFILE_COUNT; i++) {
+    for (int i = 0; i < PID_PROFILE_COUNT; i++) {
         resetPidProfile(&pidProfiles[i]);
     }
 }
@@ -716,7 +718,7 @@ float pidApplyThrustLinearization(float motorOutput)
 
 void pidCopyProfile(uint8_t dstPidProfileIndex, uint8_t srcPidProfileIndex)
 {
-    if ((dstPidProfileIndex < MAX_PROFILE_COUNT-1 && srcPidProfileIndex < MAX_PROFILE_COUNT-1)
+    if ((dstPidProfileIndex < PID_PROFILE_COUNT-1 && srcPidProfileIndex < PID_PROFILE_COUNT-1)
         && dstPidProfileIndex != srcPidProfileIndex
     ) {
         memcpy(pidProfilesMutable(dstPidProfileIndex), pidProfilesMutable(srcPidProfileIndex), sizeof(pidProfile_t));
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 7ff1208441..864089cafe 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -165,9 +165,10 @@ typedef struct pidProfile_s {
     uint8_t dterm_cut_range_hz;             // Biquad to prevent high frequency gyro noise from removing the dterm cut
     uint8_t dterm_cut_lowpass_hz;           // First order lowpass to delay and smooth dterm cut factor
     uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
+    int8_t auto_profile_cell_count;         // Cell count for this profile to be used with if auto PID profile switching is used
 } pidProfile_t;
 
-PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
+PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 37f7cdf33d..eead15cd51 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -833,7 +833,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
             sbufWriteU8(dst, getCurrentPidProfileIndex());
             sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
             if (cmdMSP == MSP_STATUS_EX) {
-                sbufWriteU8(dst, MAX_PROFILE_COUNT);
+                sbufWriteU8(dst, PID_PROFILE_COUNT);
                 sbufWriteU8(dst, getCurrentControlRateProfileIndex());
             } else {  // MSP_STATUS
                 sbufWriteU16(dst, 0); // gyro cycle time
@@ -1625,7 +1625,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         value = sbufReadU8(src);
         if ((value & RATEPROFILE_MASK) == 0) {
             if (!ARMING_FLAG(ARMED)) {
-                if (value >= MAX_PROFILE_COUNT) {
+                if (value >= PID_PROFILE_COUNT) {
                     value = 0;
                 }
                 changePidProfile(value);
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 5ed4479b61..4e72f3c8c7 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -56,8 +56,6 @@
  *
  */
 
-static void batteryUpdateConsumptionState(void); // temporary forward reference
-
 #define VBAT_STABLE_MAX_DELTA 20
 #define LVC_AFFECT_TIME 10000000 //10 secs for the LVC to slowly kick in
 
@@ -168,44 +166,50 @@ static void updateBatteryBeeperAlert(void)
     }
 }
 
+static bool isVoltageStable(void)
+{
+    return ABS(voltageMeter.filtered - voltageMeter.unfiltered) <= VBAT_STABLE_MAX_DELTA;
+}
+
+static bool isVoltageFromBat(void)
+{
+    // We want to disable battery getting detected around USB voltage or 0V
+
+    return (voltageMeter.filtered >= batteryConfig()->vbatnotpresentcellvoltage  // Above ~0V
+        && voltageMeter.filtered <= batteryConfig()->vbatmaxcellvoltage)  // 1s max cell voltage check
+        || voltageMeter.filtered > batteryConfig()->vbatnotpresentcellvoltage * 2; // USB voltage - 2s or more check
+}
+
 void batteryUpdatePresence(void)
 {
-    bool isVoltageStable = ABS(voltageMeter.filtered - voltageMeter.unfiltered) <= VBAT_STABLE_MAX_DELTA;
-
-    bool isVoltageFromBat = (voltageMeter.filtered >= batteryConfig()->vbatnotpresentcellvoltage  //above ~0V
-                            && voltageMeter.filtered <= batteryConfig()->vbatmaxcellvoltage)  //1s max cell voltage check
-                            || voltageMeter.filtered > batteryConfig()->vbatnotpresentcellvoltage*2; //USB voltage - 2s or more check
 
 
     if (
-        (voltageState == BATTERY_NOT_PRESENT || voltageState == BATTERY_INIT)
-        && isVoltageFromBat
-        && isVoltageStable
+        (voltageState == BATTERY_NOT_PRESENT || voltageState == BATTERY_INIT) && isVoltageFromBat() && isVoltageStable()
     ) {
-        /* Want to disable battery getting detected around USB voltage or 0V*/
-        /* battery has just been connected - calculate cells, warning voltages and reset state */
-
-
+        // Battery has just been connected - calculate cells, warning voltages and reset state
 
         consumptionState = voltageState = BATTERY_OK;
         if (batteryConfig()->forceBatteryCellCount != 0) {
             batteryCellCount = batteryConfig()->forceBatteryCellCount;
         } else {
             unsigned cells = (voltageMeter.filtered / batteryConfig()->vbatmaxcellvoltage) + 1;
-            if (cells > 8) {
-                // something is wrong, we expect 8 cells maximum (and autodetection will be problematic at 6+ cells)
-                cells = 8;
+            if (cells > MAX_AUTO_DETECT_CELL_COUNT) {
+                // something is wrong, we expect MAX_CELL_COUNT cells maximum (and autodetection will be problematic at 6+ cells)
+                cells = MAX_AUTO_DETECT_CELL_COUNT;
             }
             batteryCellCount = cells;
+
+            if (!ARMING_FLAG(ARMED)) {
+                changePidProfileFromCellCount(batteryCellCount);
+            }
         }
         batteryWarningVoltage = batteryCellCount * batteryConfig()->vbatwarningcellvoltage;
         batteryCriticalVoltage = batteryCellCount * batteryConfig()->vbatmincellvoltage;
         lowVoltageCutoff.percentage = 100;
         lowVoltageCutoff.startTime = 0;
     } else if (
-        voltageState != BATTERY_NOT_PRESENT
-        && isVoltageStable
-        && !isVoltageFromBat
+        voltageState != BATTERY_NOT_PRESENT && isVoltageStable() && !isVoltageFromBat()
     ) {
         /* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of batteryConfig()->vbatnotpresentcellvoltage */
 
@@ -217,7 +221,7 @@ void batteryUpdatePresence(void)
     }
     if (debugMode == DEBUG_BATTERY) {
         debug[2] = batteryCellCount;
-        debug[3] = isVoltageStable;
+        debug[3] = isVoltageStable();
     }
 }
 
@@ -271,6 +275,21 @@ static void batteryUpdateLVC(timeUs_t currentTimeUs)
 
 }
 
+static void batteryUpdateConsumptionState(void)
+{
+    if (batteryConfig()->useConsumptionAlerts && batteryConfig()->batteryCapacity > 0 && batteryCellCount > 0) {
+        uint8_t batteryPercentageRemaining = calculateBatteryPercentageRemaining();
+
+        if (batteryPercentageRemaining == 0) {
+            consumptionState = BATTERY_CRITICAL;
+        } else if (batteryPercentageRemaining <= batteryConfig()->consumptionWarningPercentage) {
+            consumptionState = BATTERY_WARNING;
+        } else {
+            consumptionState = BATTERY_OK;
+        }
+    }
+}
+
 void batteryUpdateStates(timeUs_t currentTimeUs)
 {
     batteryUpdateVoltageState();
@@ -373,21 +392,6 @@ void batteryInit(void)
 
 }
 
-static void batteryUpdateConsumptionState(void)
-{
-    if (batteryConfig()->useConsumptionAlerts && batteryConfig()->batteryCapacity > 0 && batteryCellCount > 0) {
-        uint8_t batteryPercentageRemaining = calculateBatteryPercentageRemaining();
-
-        if (batteryPercentageRemaining == 0) {
-            consumptionState = BATTERY_CRITICAL;
-        } else if (batteryPercentageRemaining <= batteryConfig()->consumptionWarningPercentage) {
-            consumptionState = BATTERY_WARNING;
-        } else {
-            consumptionState = BATTERY_OK;
-        }
-    }
-}
-
 void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
 {
     UNUSED(currentTimeUs);
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 2685bcad5d..e2b29d75bd 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -30,8 +30,15 @@
 #define VBAT_CELL_VOTAGE_RANGE_MIN 100
 #define VBAT_CELL_VOTAGE_RANGE_MAX 500
 
+#define MAX_AUTO_DETECT_CELL_COUNT 8
+
 #define GET_BATTERY_LPF_FREQUENCY(period) (1.0f / (period / 10))
 
+enum {
+    AUTO_PROFILE_CELL_COUNT_STAY = 0, // Stay on this profile irrespective of the detected cell count. Use this profile if no other profile matches (default, i.e. auto profile switching is off)
+    AUTO_PROFILE_CELL_COUNT_CHANGE = -1, // Always switch to a profile with matching cell count if there is one
+};
+
 typedef struct batteryConfig_s {
     // voltage
     uint16_t vbatmaxcellvoltage;            // maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 430 (4.30V)
diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c
index 9a76485396..c850629478 100644
--- a/src/main/target/ALIENFLIGHTF1/config.c
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@@ -54,7 +54,7 @@ void targetConfiguration(void)
         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
     }
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 90;
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index ba444b8098..e2d6fe4542 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -115,7 +115,7 @@ void targetConfiguration(void)
         pidConfigMutable()->pid_process_denom = 1;
     }
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 90;
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index 3c67839ba3..deb4cf7ac3 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -76,7 +76,7 @@ void targetConfiguration(void)
         featureEnable(FEATURE_TELEMETRY);
     }
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 53;
diff --git a/src/main/target/ALIENFLIGHTNGF7/config.c b/src/main/target/ALIENFLIGHTNGF7/config.c
index 5dc19e1567..b9f222e3c8 100644
--- a/src/main/target/ALIENFLIGHTNGF7/config.c
+++ b/src/main/target/ALIENFLIGHTNGF7/config.c
@@ -75,7 +75,7 @@ void targetConfiguration(void)
         featureEnable(FEATURE_TELEMETRY);
     }
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[FD_ROLL].P = 53;
diff --git a/src/main/target/ALIENWHOOP/config.c b/src/main/target/ALIENWHOOP/config.c
index 191dec4679..de9a21a320 100644
--- a/src/main/target/ALIENWHOOP/config.c
+++ b/src/main/target/ALIENWHOOP/config.c
@@ -116,7 +116,7 @@ void targetConfiguration(void)
     featureEnable((FEATURE_DYNAMIC_FILTER | FEATURE_AIRMODE | FEATURE_ANTI_GRAVITY) ^ FEATURE_RX_PARALLEL_PWM);
 
     /* AlienWhoop PIDs tested with 6mm and 7mm motors on most frames */
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
 	pidProfile->pidSumLimit = 1000;
diff --git a/src/main/target/BEEBRAIN_V2F/config.c b/src/main/target/BEEBRAIN_V2F/config.c
index 6ca8c09ef3..13ed08efe1 100644
--- a/src/main/target/BEEBRAIN_V2F/config.c
+++ b/src/main/target/BEEBRAIN_V2F/config.c
@@ -73,7 +73,7 @@ void targetConfiguration(void)
         pidConfigMutable()->pid_process_denom = 1;
     }
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P  = 86;
diff --git a/src/main/target/FF_PIKOBLX/config.c b/src/main/target/FF_PIKOBLX/config.c
index e3c8f590fd..6b02809b8d 100644
--- a/src/main/target/FF_PIKOBLX/config.c
+++ b/src/main/target/FF_PIKOBLX/config.c
@@ -69,7 +69,7 @@ void targetConfiguration(void)
 #endif
         parseRcChannels("TAER1234", rxConfigMutable());
 
-        for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+        for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
             pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
             pidProfile->pid[PID_ROLL].P = 80;
diff --git a/src/main/target/MULTIFLITEPICO/config.c b/src/main/target/MULTIFLITEPICO/config.c
index a3e01b7065..69fca7ca57 100644
--- a/src/main/target/MULTIFLITEPICO/config.c
+++ b/src/main/target/MULTIFLITEPICO/config.c
@@ -84,7 +84,7 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_sync_denom = 4;
     pidConfigMutable()->pid_process_denom = 1;
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 70;
diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c
index 479f4d4d7e..51f2ca5692 100644
--- a/src/main/target/NAZE/config.c
+++ b/src/main/target/NAZE/config.c
@@ -73,7 +73,7 @@ void targetConfiguration(void)
         rxChannelRangeConfigsMutable(channel)->max = 1860;
     }*/
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 60;
diff --git a/src/main/target/SPRACINGF3EVO/config.c b/src/main/target/SPRACINGF3EVO/config.c
index e325886ad5..ae2fd23b4d 100644
--- a/src/main/target/SPRACINGF3EVO/config.c
+++ b/src/main/target/SPRACINGF3EVO/config.c
@@ -47,7 +47,7 @@ void targetConfiguration(void)
 
     motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
 
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[FD_ROLL].P = 90;
diff --git a/src/main/target/YUPIF4/config.c b/src/main/target/YUPIF4/config.c
index af58fe0276..dea7c28997 100644
--- a/src/main/target/YUPIF4/config.c
+++ b/src/main/target/YUPIF4/config.c
@@ -62,7 +62,7 @@ void targetConfiguration(void)
     }
 
     /* Specific PID values for YupiF4 */
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
+    for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 
         pidProfile->pid[PID_ROLL].P = 30;
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index afd98b8d47..9419a5b442 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -146,9 +146,9 @@
 #define USE_SERIALRX_SUMD       // Graupner Hott protocol
 
 #if (FLASH_SIZE > 64)
-#define MAX_PROFILE_COUNT 3
+#define PID_PROFILE_COUNT 3
 #else
-#define MAX_PROFILE_COUNT 2
+#define PID_PROFILE_COUNT 2
 #endif
 
 #if (FLASH_SIZE > 64)
diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h
index d9e3458e52..5c9ae1aa5e 100644
--- a/src/test/unit/platform.h
+++ b/src/test/unit/platform.h
@@ -32,7 +32,7 @@
 #define FAST_RAM_ZERO_INIT
 #define FAST_RAM
 
-#define MAX_PROFILE_COUNT 3
+#define PID_PROFILE_COUNT 3
 #define USE_MAG
 #define USE_BARO
 #define USE_GPS