diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9857a899ab..224346c85e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -178,6 +178,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .launchControlAngleLimit = 0,
         .launchControlGain = 40,
         .launchControlAllowTriggerReset = true,
+        .use_integrated_yaw = false,
+        .integrated_yaw_relax = 200
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 150;
@@ -436,6 +438,8 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlMode;
 static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
 static FAST_RAM_ZERO_INIT float launchControlKi;
 #endif
+static FAST_RAM_ZERO_INIT bool useIntegratedYaw;
+static FAST_RAM_ZERO_INIT uint8_t integratedYawRelax;
 
 void pidResetIterm(void)
 {
@@ -573,6 +577,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     }
     launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
 #endif
+    useIntegratedYaw = pidProfile->use_integrated_yaw;
+    integratedYawRelax = pidProfile->integrated_yaw_relax;
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -1241,7 +1247,13 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
         }
 #endif
         // calculating the PID sum
-        pidData[axis].Sum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
+        const float pidSum = pidData[axis].P + pidData[axis].I + pidData[axis].D + pidData[axis].F;
+        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 {
+            pidData[axis].Sum = pidSum;
+        }
     }
 
     // Disable PID control if at zero throttle or if gyro overflow detected
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 89afb0c65d..1287980bab 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -156,7 +156,10 @@ typedef struct pidProfile_s {
     uint8_t launchControlAngleLimit;        // Optional launch control angle limit (requires ACC)
     uint8_t launchControlGain;              // Iterm gain used while launch control is active
     uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
+    uint8_t use_integrated_yaw;             // Selects whether the yaw pidsum should integrated
+    uint8_t integrated_yaw_relax;           // Specifies how much integrated yaw should be reduced to offset the drag based yaw component
 } pidProfile_t;
+    
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
 
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index bef291c7e7..e1e68c9f6a 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -936,6 +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
 
+    { "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) },
+
+    
 #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) },
     { "launch_trigger_allow_reset", VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAllowTriggerReset) },