diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index e292b50ec2..c98bf541f5 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -314,7 +314,6 @@ static long cmsx_FilterPerProfileRead(void)
     cmsx_dterm_notch_hz =     masterConfig.profile[profileIndex].pidProfile.dterm_notch_hz;
     cmsx_dterm_notch_cutoff = masterConfig.profile[profileIndex].pidProfile.dterm_notch_cutoff;
     cmsx_yaw_lpf_hz =         masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz;
-    cmsx_yaw_p_limit =        masterConfig.profile[profileIndex].pidProfile.yaw_p_limit;
 
     return 0;
 }
@@ -327,7 +326,6 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self)
     masterConfig.profile[profileIndex].pidProfile.dterm_notch_hz =     cmsx_dterm_notch_hz;
     masterConfig.profile[profileIndex].pidProfile.dterm_notch_cutoff = cmsx_dterm_notch_cutoff;
     masterConfig.profile[profileIndex].pidProfile.yaw_lpf_hz =         cmsx_yaw_lpf_hz;
-    masterConfig.profile[profileIndex].pidProfile.yaw_p_limit =        cmsx_yaw_p_limit;
 
     return 0;
 }
diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h
index c87f07b4b7..a4abe75ba0 100644
--- a/src/main/config/config_eeprom.h
+++ b/src/main/config/config_eeprom.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#define EEPROM_CONF_VERSION 156
+#define EEPROM_CONF_VERSION 157
 
 void initEEPROM(void);
 void writeEEPROM();
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 6838ad9398..0f99c6af48 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -24,7 +24,7 @@
 #define PID_MIXER_SCALING           1000.0f
 #define PID_SERVO_MIXER_SCALING     0.7f
 #define PIDSUM_LIMIT                0.5f
-#define PIDSUM_LIMIT_YAW            0.4f
+#define PIDSUM_LIMIT_YAW            0.5f
 
 // Scaling factors for Pids for better tunable range in configurator for betaflight pid controller. The scaling is based on legacy pid controller or previous float
 #define PTERM_SCALE 0.032029f