diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 224346c85e..3060677837 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -114,7 +114,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 6);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -179,7 +179,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .launchControlGain = 40,
         .launchControlAllowTriggerReset = true,
         .use_integrated_yaw = false,
-        .integrated_yaw_relax = 200
+        .integrated_yaw_relax = 200,
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 150;
@@ -438,8 +438,11 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
 static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
 static FAST_RAM_ZERO_INIT float launchControlKi;
 #endif
+
+#ifdef USE_INTEGRATED_YAW_CONTROL
 static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
 static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
+#endif
 
 void pidResetIterm(void)
 {
@@ -577,8 +580,11 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     }
     launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
 #endif
+
+#ifdef USE_INTEGRATED_YAW_CONTROL
     useIntegratedYaw = pidProfile->use_integrated_yaw;
     integratedYawRelax = pidProfile->integrated_yaw_relax;
+#endif
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -1248,10 +1254,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
 #endif
         // calculating the PID sum
         const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
+#ifdef USE_INTEGRATED_YAW_CONTROL
         if (axis == FD_YAW && useIntegratedYaw) {
             pidData[axis].Sum += pidSum * dT * 100.0f;
             pidData[axis].Sum -= pidData[axis].Sum * integratedYawRelax / 100000.0f * dT / 0.000125f;
-        } else {
+        } else
+#endif
+        {
             pidData[axis].Sum = pidSum;
         }
     }
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 84f0dee327..7bcfa0a501 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -936,8 +936,10 @@ const clivalue_t valueTable[] = {
     { "abs_control_error_limit",    VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 1, 45 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_error_limit) },
 #endif
 
+#ifdef USE_INTEGRATED_YAW_CONTROL
     { "use_integrated_yaw",    VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
     { "integrated_yaw_relax",    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
+#endif
 
 #ifdef USE_LAUNCH_CONTROL
     { "launch_control_mode",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index f8fdc53c3a..725ccf4ae3 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -196,6 +196,7 @@
 #define USE_RC_SMOOTHING_FILTER
 #define USE_ITERM_RELAX
 #define USE_DYN_LPF
+#define USE_INTEGRATED_YAW_CONTROL
 
 #ifdef USE_SERIALRX_SPEKTRUM
 #define USE_SPEKTRUM_BIND