diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4aba7dc3d9..7eac0d7965 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -436,15 +436,17 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
     // We now use Acro Rates, transformed into the range +/- 1, to provide setpoints
     const float angleLimit = pidProfile->angle_limit;
     float angleFeedforward = 0.0f;
+    // if user changes rates profile, update the max setpoint for angle mode
+    const float maxSetpointRateInv = 1.0f / getMaxRcRate(axis);
 
 #ifdef USE_FEEDFORWARD
-    angleFeedforward = angleLimit * getFeedforward(axis) * pidRuntime.angleFeedforwardGain * pidRuntime.maxRcRateInv[axis];
+    angleFeedforward = angleLimit * getFeedforward(axis) * pidRuntime.angleFeedforwardGain * maxSetpointRateInv;
     //  angle feedforward must be heavily filtered, at the PID loop rate, with limited user control over time constant
     // it MUST be very delayed to avoid early overshoot and being too aggressive
     angleFeedforward = pt3FilterApply(&pidRuntime.angleFeedforwardPt3[axis], angleFeedforward);
 #endif
 
-    float angleTarget = angleLimit * currentPidSetpoint * pidRuntime.maxRcRateInv[axis];
+    float angleTarget = angleLimit * currentPidSetpoint * maxSetpointRateInv;
     // use acro rates for the angle target in both horizon and angle modes, converted to -1 to +1 range using maxRate
 
 #ifdef USE_GPS_RESCUE
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 1159d9902a..c3943a8314 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -473,7 +473,6 @@ typedef struct pidRuntime_s {
     float angleEarthRef;
     float angleTarget[2];
     bool axisInAngleMode[3];
-    float maxRcRateInv[2];
 #endif
 
 #ifdef USE_WING
diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c
index 158a65535d..412bf50159 100644
--- a/src/main/flight/pid_init.c
+++ b/src/main/flight/pid_init.c
@@ -251,7 +251,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     for (int axis = 0; axis < 2; axis++) {  // ROLL and PITCH only
         pt3FilterInit(&pidRuntime.attitudeFilter[axis], k);
         pt3FilterInit(&pidRuntime.angleFeedforwardPt3[axis], k2);
-        pidRuntime.maxRcRateInv[axis] = 1.0f / getMaxRcRate(axis);
     }
     pidRuntime.angleYawSetpoint = 0.0f;
 #endif