diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 6f9e32fc34..63e4201bdc 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -359,6 +359,11 @@ static const char * const lookupTableGyroSampling[] = {
     "1KHZ"
 };
 
+static const char * const lookupTablePidAtMinThrottle[] = {
+    "OFF",
+    "PD",
+    "PID"
+};
 
 typedef struct lookupTableEntry_s {
     const char * const *values;
@@ -379,6 +384,7 @@ typedef enum {
     TABLE_SERIAL_RX,
     TABLE_GYRO_FILTER,
     TABLE_GYRO_SAMPLING,
+    TABLE_PID_AT_MIN_THROTTLE,
 } lookupTableIndex_e;
 
 static const lookupTableEntry_t lookupTables[] = {
@@ -394,7 +400,8 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
     { lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
     { lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) },
-    { lookupTableGyroSampling, sizeof(lookupTableGyroSampling) / sizeof(char *) }
+    { lookupTableGyroSampling, sizeof(lookupTableGyroSampling) / sizeof(char *) },
+    { lookupTablePidAtMinThrottle, sizeof(lookupTablePidAtMinThrottle) / sizeof(char *) }
 };
 
 #define VALUE_TYPE_OFFSET 0
@@ -501,6 +508,17 @@ const clivalue_t valueTable[] = {
     { "nav_speed_max",              VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, .config.minmax = { 10,  2000 } },
     { "nav_slew_rate",              VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, .config.minmax = { 0,  100 } },
 #endif
+#ifdef GTUNE
+    { "gtune_loP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10,  200 } },
+    { "gtune_loP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10,  200 } },
+    { "gtune_loP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10,  200 } },
+    { "gtune_hiP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0,  200 } },
+    { "gtune_hiP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0,  200 } },
+    { "gtune_hiP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0,  200 } },
+    { "gtune_pwr",                  VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0,  10 } },
+    { "gtune_settle_time",          VAR_UINT16 | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200,  1000 } },
+    { "gtune_average_cycles",       VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8,  128 } },
+#endif
 
     { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.rxConfig.serialrx_provider, .config.lookup = { TABLE_SERIAL_RX } },
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.spektrum_sat_bind, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED,  SPEKTRUM_SAT_BIND_MAX} },
@@ -549,7 +567,7 @@ const clivalue_t valueTable[] = {
 
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, .config.minmax = { -1,  1 } },
 
-    { "pid_at_min_throttle",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.minmax = { 0,  5 } },
+    { "pid_at_min_throttle",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.pid_at_min_throttle, .config.lookup = { TABLE_PID_AT_MIN_THROTTLE } },
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, .config.minmax = { YAW_JUMP_PREVENTION_LIMIT_LOW,  YAW_JUMP_PREVENTION_LIMIT_HIGH } },
 #ifdef USE_SERVOS
@@ -643,18 +661,6 @@ const clivalue_t valueTable[] = {
     { "dterm_cut_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
     { "yaw_pterm_cut_hz",           VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
 
-#ifdef GTUNE
-    { "gtune_loP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10,  200 } },
-    { "gtune_loP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10,  200 } },
-    { "gtune_loP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10,  200 } },
-    { "gtune_hiP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0,  200 } },
-    { "gtune_pwr",                  VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0,  10 } },
-    { "gtune_settle_time",          VAR_UINT16 | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200,  1000 } },
-    { "gtune_average_cycles",       VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8,  128 } },
-#endif
-
 #ifdef BLACKBOX
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, .config.minmax = { 1,  32 } },
     { "blackbox_rate_denom",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_denom, .config.minmax = { 1,  32 } },
diff --git a/src/main/mw.c b/src/main/mw.c
index 4ccfada9bc..db607b9683 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -100,6 +100,7 @@ enum {
 #define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger
 #define PREVENT_BARO_READ_PRE_LOOP_TRIGGER 150 // Prevent BARO processing before expected loop trigger
 #define GYRO_RATE 0.001f  // Gyro refresh rate 1khz
+#define PID_AT_MIN_THROTTLE_ITERM_DELAY (3 * 1000)
 
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
@@ -578,7 +579,7 @@ void processRx(void)
             pidResetErrorGyro();
         }
     } else {
-        pidResetErrorGyroTimeout = millis() + (masterConfig.mixerConfig.pid_at_min_throttle * 1000);
+        pidResetErrorGyroTimeout = millis() + PID_AT_MIN_THROTTLE_ITERM_DELAY;
     }
 
     // When armed and motors aren't spinning, do beeps and then disarm