diff --git a/src/main/config/config.c b/src/main/config/config.c
index f9812fef93..5a8367f787 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -168,8 +168,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->P8[PIDNAVR] = 25; // NAV_P * 10;
     pidProfile->I8[PIDNAVR] = 33; // NAV_I * 100;
     pidProfile->D8[PIDNAVR] = 83; // NAV_D * 1000;
-    pidProfile->P8[PIDLEVEL] = 50;
-    pidProfile->I8[PIDLEVEL] = 50;
+    pidProfile->P8[PIDLEVEL] = 55;
+    pidProfile->I8[PIDLEVEL] = 55;
     pidProfile->D8[PIDLEVEL] = 100;
     pidProfile->P8[PIDMAG] = 40;
     pidProfile->P8[PIDVEL] = 120;
@@ -177,7 +177,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D8[PIDVEL] = 1;
 
     pidProfile->gyro_lpf_hz = 60;    // filtering ON by default
-    pidProfile->dterm_lpf_hz = 50;   // filtering ON by default
+    pidProfile->dterm_lpf_hz = 0;    // filtering ON by default
     pidProfile->airModeInsaneAcrobilityFactor = 0;
 
     pidProfile->P_f[ROLL] = 1.1f;
@@ -188,7 +188,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->D_f[PITCH] = 0.01f;
     pidProfile->P_f[YAW] = 4.0f;
     pidProfile->I_f[YAW] = 0.4f;
-    pidProfile->D_f[YAW] = 0.01f;
+    pidProfile->D_f[YAW] = 0.00f;
     pidProfile->A_level = 6.0f;
     pidProfile->H_level = 6.0f;
     pidProfile->H_sensitivity = 75;
@@ -440,7 +440,7 @@ static void resetConf(void)
     masterConfig.rxConfig.rssi_channel = 0;
     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
     masterConfig.rxConfig.rssi_ppm_invert = 0;
-    masterConfig.rxConfig.rcSmoothing = 0;
+    masterConfig.rxConfig.rcSmoothing = 1;
     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 3766208579..a91222c8fa 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -657,7 +657,7 @@ const clivalue_t valueTable[] = {
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0,  200 } },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0,  200 } },
 
-    { "gyro_lpf_hz",                VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } },
+    { "soft_gyro_lpf_hz",           VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_lpf_hz, .config.minmax = {0, 255 } },
     { "dterm_lpf_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 255 } },
     { "acro_plus_factor",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.airModeInsaneAcrobilityFactor, .config.minmax = {0, 100 } },