diff --git a/src/main/config/config.c b/src/main/config/config.c
index 5f0cf31eae..f74bf867f2 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -243,8 +243,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->ptermSetpointWeight = 75;
-    pidProfile->dtermSetpointWeight = 120;
+    pidProfile->ptermSetpointWeight = 80;
+    pidProfile->dtermSetpointWeight = 150;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
     pidProfile->toleranceBand = 0;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index e3546636f6..ff524656e9 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -853,7 +853,7 @@ const clivalue_t valueTable[] = {
     { "zero_cross_allowance",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
     { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
     { "pterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
-    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
+    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 300 } },
     { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
     { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
 
diff --git a/src/main/main.c b/src/main/main.c
index 7949e1a560..5495856e18 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -106,8 +106,6 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#define LOOPTIME_SUSPEND_TIME 3  // Prevent too long busy wait times
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -599,8 +597,7 @@ void init(void)
         masterConfig.gyro_sync_denom = 1;
     }
 
-    setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
-
+    setTargetPidLooptime(gyro.targetLooptime * masterConfig.pid_process_denom); // Initialize pid looptime
 
 #ifdef BLACKBOX
     initBlackbox();
@@ -677,7 +674,7 @@ void main_init(void)
 
     /* Setup scheduler */
     schedulerInit();
-    rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
+    rescheduleTask(TASK_GYROPID, gyro.targetLooptime); // Add a littlebit of extra time to reduce busy wait
     setTaskEnabled(TASK_GYROPID, true);
 
     if (sensors(SENSOR_ACC)) {
diff --git a/src/main/mw.c b/src/main/mw.c
index fd4f970447..d616015285 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -813,12 +813,10 @@ uint8_t setPidUpdateCountDown(void) {
 // Function for loop trigger
 void taskMainPidLoopCheck(void)
 {
-    static uint32_t previousTime;
     static bool runTaskMainSubprocesses;
     static uint8_t pidUpdateCountdown;
 
-    cycleTime = micros() - previousTime;
-    previousTime = micros();
+    cycleTime = getTaskDeltaTime(TASK_SELF);
 
     if (debugMode == DEBUG_CYCLETIME) {
         debug[0] = cycleTime;