diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index c93c31fc86..90ddf5e0d6 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -67,6 +67,7 @@ static int32_t errorGyroI[3], errorGyroILimit[3];
 static float errorGyroIf[3], errorGyroIfLimit[3];
 static int32_t errorAngleI[2];
 static float errorAngleIf[2];
+static bool lowThrottlePidReduction;
 
 static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
         uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
@@ -85,12 +86,20 @@ void pidResetErrorAngle(void)
     errorAngleIf[PITCH] = 0.0f;
 }
 
-void pidResetErrorGyro(void)
+void pidResetErrorGyroState(uint8_t resetOption)
 {
-    int axis;
-    for (axis = 0; axis < 3; axis++) {
-        errorGyroI[axis] = 0;
-        errorGyroIf[axis] = 0.0f;
+    if (resetOption >= RESET_ITERM) {
+        int axis;
+        for (axis = 0; axis < 3; axis++) {
+            errorGyroI[axis] = 0;
+            errorGyroIf[axis] = 0.0f;
+        }
+    }
+
+    if (resetOption == RESET_ITERM_AND_REDUCE_PID) {
+        lowThrottlePidReduction = true;
+    } else {
+        lowThrottlePidReduction = false;
     }
 }
 
@@ -242,6 +251,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         // -----calculate total PID output
         axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -1000, 1000);
 
+        if (lowThrottlePidReduction) axisPID[axis] /= 4;
+
 #ifdef BLACKBOX
         axisPID_P[axis] = PTerm;
         axisPID_I[axis] = ITerm;
@@ -347,6 +358,8 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
 
         axisPID[axis] = PTerm + ITerm + DTerm;
 
+        if (lowThrottlePidReduction) axisPID[axis] /= 4;
+
 
 #ifdef BLACKBOX
         axisPID_P[axis] = PTerm;
@@ -377,6 +390,7 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
 
     axisPID[FD_YAW] =  PTerm + ITerm;
 
+    if (lowThrottlePidReduction) axisPID[FD_YAW] /= 4;
 
 #ifdef BLACKBOX
     axisPID_P[FD_YAW] = PTerm;
@@ -506,6 +520,8 @@ static void pidMultiWiiRewrite(pidProfile_t *pidProfile, controlRateConfig_t *co
         // -----calculate total PID output
         axisPID[axis] = PTerm + ITerm + DTerm;
 
+        if (lowThrottlePidReduction) axisPID[axis] /= 4;
+
 
 #ifdef BLACKBOX
         axisPID_P[axis] = PTerm;
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 1f015aa693..665e187d5d 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -48,6 +48,12 @@ typedef enum {
 	DELTA_FROM_MEASUREMENT
 } pidDeltaType_e;
 
+typedef enum {
+    RESET_DISABLE = 0,
+    RESET_ITERM,
+    RESET_ITERM_AND_REDUCE_PID
+} pidErrorResetOption_e;
+
 #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
 
 typedef struct pidProfile_s {
@@ -77,5 +83,5 @@ bool antiWindupProtection;
 
 void pidSetController(pidControllerType_e type);
 void pidResetErrorAngle(void);
-void pidResetErrorGyro(void);
+void pidResetErrorGyroState(uint8_t resetOption);
 
diff --git a/src/main/mw.c b/src/main/mw.c
index 4ddc106369..dd935d4752 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -460,10 +460,15 @@ void processRx(void)
                 antiWindupProtection = false;
             }
         } else {
-            pidResetErrorGyro();
+            if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+                pidResetErrorGyroState(RESET_ITERM);
+            } else {
+                pidResetErrorGyroState(RESET_ITERM_AND_REDUCE_PID);
+            }
             pidResetErrorAngle();
         }
     } else {
+        pidResetErrorGyroState(RESET_DISABLE);
         antiWindupProtection = false;
     }