diff --git a/src/main/config/config.c b/src/main/config/config.c
index 7a8e9a7a51..9f65b4f126 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -235,6 +235,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 75;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
+    pidProfile->pidSumLimit = PIDSUM_LIMIT;
     pidProfile->yaw_lpf_hz = 0;
     pidProfile->rollPitchItermIgnoreRate = 130;
     pidProfile->yawItermIgnoreRate = 32;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 92fb0a8ff1..a72f2f8aa2 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -283,7 +283,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
             DTerm = Kd[axis] * delta * tpaFactor;
 
             // -----calculate total PID output
-            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -800, 800);
+            axisPID[axis] = constrain(lrintf(PTerm + ITerm + DTerm), -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
         } else {
             if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index c1684b3c76..f393208e56 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -23,6 +23,7 @@
 #define YAW_P_LIMIT_MAX 500                 // Maximum value for yaw P limiter
 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 400
+#define PIDSUM_LIMIT 700
 
 #define DYNAMIC_PTERM_STICK_THRESHOLD 400
 
@@ -84,6 +85,7 @@ typedef struct pidProfile_s {
     uint16_t rollPitchItermIgnoreRate;      // Experimental threshold for resetting iterm for pitch and roll on certain rates
     uint16_t yawItermIgnoreRate;            // Experimental threshold for resetting iterm for yaw on certain rates
     uint16_t yaw_p_limit;
+    uint16_t pidSumLimit;
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 92d8b22621..5b91d291d1 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -793,6 +793,7 @@ const clivalue_t valueTable[] = {
 
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
+    { "pidsum_limit",               VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 100, 1000 } },
 #ifdef USE_SERVOS
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
     { "servo_lowpass_freq",         VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10,  400} },