diff --git a/docs/Cli.md b/docs/Cli.md
index 272ce58f5a..d026c550aa 100644
--- a/docs/Cli.md
+++ b/docs/Cli.md
@@ -179,6 +179,7 @@ Re-apply any new defaults as desired.
 | throttle_correction_angle     | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg.                                                                                                                                                                                                                                                                                                                                                                  | 1      | 900    | 800           | Profile      | UINT16   |
 | yaw_control_direction         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1             | Master       | INT8     |
 | yaw_direction                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1             | Profile      | INT8     |
+| yaw_jump_prevention_limit     | Prevent yaw jumps during yaw stops. To disable set to 500.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 200      | 80   | 500           | Master       | UINT16   |
 | tri_unarmed_servo             | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 1      | 1             | Profile      | INT8     |
 | default_rate_profile          | Default = profile number                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 2      |               | Profile      | UINT8    |
 | rc_rate                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 250    | 90            | Rate Profile | UINT8    |
@@ -241,4 +242,4 @@ Re-apply any new defaults as desired.
 | i_vel                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 45            | Profile      | UINT8    |
 | d_vel                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 1             | Profile      | UINT8    |
 | blackbox_rate_num             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 32     | 1             | Master       | UINT8    |
-| blackbox_rate_denom           |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 32     | 1             | Master       | UINT8    |
+| blackbox_rate_denom           |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 32     | 1             | Master       | UINT8    |    
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 28bc6a6082..05e1c55ec2 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -319,7 +319,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
 void resetMixerConfig(mixerConfig_t *mixerConfig) {
     mixerConfig->pid_at_min_throttle = 1;
     mixerConfig->yaw_direction = 1;
-    mixerConfig->yaw_jump_prevention_limit = 0;
+    mixerConfig->yaw_jump_prevention_limit = 200;
 #ifdef USE_SERVOS
     mixerConfig->tri_unarmed_servo = 1;
     mixerConfig->servo_lowpass_freq = 400;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index fe70eff86d..55ae12cab1 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -564,8 +564,8 @@ void mixTable(void)
 {
     uint32_t i;
 
-    if (motorCount >= 4 &&  mixerConfig->yaw_jump_prevention_limit) {
-        // prevent "yaw jump" during yaw correction
+    if (motorCount >= 4 &&  mixerConfig->yaw_jump_prevention_limit < 500) {
+        // prevent "yaw jump" during yaw correction (500 is disabled jump protection)
         axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
     }
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 9d22ccc7af..28f23f34a2 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -387,7 +387,7 @@ const clivalue_t valueTable[] = {
 
     { "pid_at_min_throttle",        VAR_UINT8  | MASTER_VALUE, &masterConfig.mixerConfig.pid_at_min_throttle, 0, 1 },
     { "yaw_direction",              VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.yaw_direction, -1, 1 },
-    { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 0, 500 },
+    { "yaw_jump_prevention_limit",  VAR_UINT16 | MASTER_VALUE, &masterConfig.mixerConfig.yaw_jump_prevention_limit, 80, 500 },
 #ifdef USE_SERVOS
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE, &masterConfig.mixerConfig.tri_unarmed_servo, 0, 1 },
     { "servo_lowpass_freq",         VAR_INT16  | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, 10, 400},