diff --git a/src/main/config/config.c b/src/main/config/config.c
index d8d2f8c5a1..8b389fb2a1 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -403,7 +403,7 @@ static void resetConf(void)
     masterConfig.dcm_ki = 0;                    // 0.003 * 10000
     masterConfig.gyro_lpf = 0;                 // 256HZ default
     masterConfig.gyro_sync_denom = 4;
-    masterConfig.gyro_soft_lpf_hz = 90;
+    masterConfig.gyro_soft_lpf_hz = 100;
 
     masterConfig.pid_process_denom = 2;
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 3738f97633..9043e1e7bb 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -20,7 +20,7 @@
 
 #define GYRO_I_MAX 256                      // Gyro I limiter
 #define YAW_P_LIMIT_MIN 100                 // Maximum value for yaw P limiter
-#define YAW_P_LIMIT_MAX 400                 // Maximum value for yaw P limiter
+#define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
 
 #define ITERM_RESET_THRESHOLD 15
 #define DYNAMIC_PTERM_STICK_THRESHOLD 400