diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 523a50fc0c..39fa4b8064 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -218,11 +218,11 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
 #endif
             if (FLIGHT_MODE(ANGLE_MODE)) {
                 // ANGLE mode - control is angle based, so control loop is needed
-                setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
+                ptermSetpointRate[axis] = setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
             } else {
                 // HORIZON mode - direct sticks control is applied to rate PID
                 // mix up angle error to desired AngleRate to add a little auto-level feel
-                setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
+                ptermSetpointRate[axis] = setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
             }
         }
 
diff --git a/src/main/mw.c b/src/main/mw.c
index 54b605a120..b112aa6678 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -203,7 +203,7 @@ void calculateSetpointRate(int axis, int16_t rc) {
         rcSuperfactor = 1.0f / (constrainf(1.0f - (ABS(rcCommandf) * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
         if (currentProfile->pidProfile.pidController == PID_CONTROLLER_BETAFLIGHT) {
             ptermSetpointRate[axis] = constrainf(angleRate * rcSuperfactor, -1998.0f, 1998.0f);
-            if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW) {
+            if (currentProfile->pidProfile.ptermSRateWeight < 100 && axis != YAW && !flightModeFlags) {
                 const float pWeight = currentProfile->pidProfile.ptermSRateWeight / 100.0f;
                 angleRate = angleRate + (pWeight * ptermSetpointRate[axis] - angleRate);
             } else {