diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 152913f189..801a9d5d78 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -237,7 +237,7 @@ static CMS_Menu cmsx_menuRateProfile = {
     .entries = cmsx_menuRateProfileEntries
 };
 
-static uint8_t  cmsx_dtermSetpointWeight;
+static uint16_t  cmsx_dtermSetpointWeight;
 static uint8_t  cmsx_setpointRelaxRatio;
 static uint8_t  cmsx_angleStrength;
 static uint8_t  cmsx_horizonStrength;
@@ -285,7 +285,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
 static OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
 
-    { "D SETPT WT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_dtermSetpointWeight,    0,    255,   1, 10 }, 0 },
+    { "D SETPT WT",  OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_dtermSetpointWeight,    0,    2000,  1 }, 0 },
     { "SETPT TRS",   OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_setpointRelaxRatio,     0,    100,   1, 10 }, 0 },
     { "ANGLE STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_angleStrength,          0,    200,   1  }   , 0 },
     { "HORZN STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonStrength,        0,    200,   1  }   , 0 },
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index 8018f44577..261c4eb235 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -401,7 +401,7 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
         break;
     case ADJUSTMENT_D_SETPOINT:
-        newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
+        newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 2000); // FIXME magic numbers repeated in cli.c
         pidProfile->dtermSetpointWeight = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
         break;
@@ -550,7 +550,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
         break;
     case ADJUSTMENT_D_SETPOINT:
-        newValue = constrain(value, 0, 254); // FIXME magic numbers repeated in cli.c
+        newValue = constrain(value, 0, 2000); // FIXME magic numbers repeated in cli.c
         pidProfile->dtermSetpointWeight = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
         break;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0292d2c28e..f3ed603b28 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -88,7 +88,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 );
 #endif
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 2);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 3);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 37bba45d76..3f4cd89bfc 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -98,7 +98,7 @@ typedef struct pidProfile_s {
     uint16_t itermThrottleThreshold;        // max allowed throttle delta before iterm accelerated in ms
     uint16_t itermAcceleratorGain;          // Iterm Accelerator Gain when itermThrottlethreshold is hit
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
-    uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
+    uint16_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
     uint16_t crash_dthreshold;              // dterm crash value
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index 53021236f5..13fa3a2164 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1224,7 +1224,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
         sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
-        sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
+        sbufWriteU8(dst, MIN(currentPidProfile->dtermSetpointWeight, 255));
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
@@ -1234,6 +1234,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, 0); // was pidProfile.levelSensitivity
         sbufWriteU16(dst, currentPidProfile->itermThrottleThreshold);
         sbufWriteU16(dst, currentPidProfile->itermAcceleratorGain);
+        sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
         break;
 
     case MSP_SENSOR_CONFIG:
@@ -1694,6 +1695,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
             currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
         }
+        if (sbufBytesRemaining(src) >= 2) {
+            currentPidProfile->dtermSetpointWeight = sbufReadU16(src);
+        }
         pidInitConfig(currentPidProfile);
         break;
 
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 2b341df804..973ed31597 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -738,7 +738,7 @@ const clivalue_t valueTable[] = {
     { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
     { "anti_gravity_gain",          VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
-    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
+    { "dterm_setpoint_weight",      VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
     { "acc_limit_yaw",              VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
     { "acc_limit",                  VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
     { "crash_dthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },