diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 7714b521a4..e5928b0bb7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -1004,22 +1004,19 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 
         // -----calculate I component
         float Ki = pidRuntime.pidCoefficient[axis].Ki;
-        float axisDynCi = pidRuntime.dT;
 #ifdef USE_LAUNCH_CONTROL
         // if launch control is active override the iterm gains and apply iterm windup protection to all axes
         if (launchControlActive) {
             Ki = pidRuntime.launchControlKi;
-            axisDynCi = dynCi;
         } else
 #endif
         {
             if (axis == FD_YAW) {
-                axisDynCi = dynCi; // only apply windup protection to yaw
                 pidRuntime.itermAccelerator = 0.0f; // no antigravity on yaw iTerm
             }
         }
 
-        pidData[axis].I = constrainf(previousIterm + (Ki * axisDynCi + pidRuntime.itermAccelerator) * itermErrorRate, -pidRuntime.itermLimit, pidRuntime.itermLimit);
+        pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + pidRuntime.itermAccelerator) * itermErrorRate, -pidRuntime.itermLimit, pidRuntime.itermLimit);
 
         // -----calculate pidSetpointDelta
         float pidSetpointDelta = 0;
diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index f267eddfd2..d964dc2fa1 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -322,8 +322,8 @@ TEST(pidControllerTest, testPidLoop) {
     // Simulate Iterm behaviour during mixer saturation
     simulatedMotorMixRange = 1.2f;
     pidController(pidProfile, currentTestTime());
-    EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
-    EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
+    EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
+    EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
     EXPECT_NEAR(-8.8, pidData[FD_YAW].I, calculateTolerance(-8.8));
     simulatedMotorMixRange = 0;
 
@@ -339,8 +339,8 @@ TEST(pidControllerTest, testPidLoop) {
     EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].P);
     EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].P);
     EXPECT_FLOAT_EQ(0, pidData[FD_YAW].P);
-    EXPECT_NEAR(-31.3, pidData[FD_ROLL].I, calculateTolerance(-31.3));
-    EXPECT_NEAR(29.3, pidData[FD_PITCH].I, calculateTolerance(29.3));
+    EXPECT_NEAR(-23.5, pidData[FD_ROLL].I, calculateTolerance(-23.5));
+    EXPECT_NEAR(19.6, pidData[FD_PITCH].I, calculateTolerance(19.6));
     EXPECT_NEAR(-10.6, pidData[FD_YAW].I, calculateTolerance(-10.6));
     EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
     EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
@@ -457,12 +457,12 @@ TEST(pidControllerTest, testMixerSaturation) {
     simulatedMotorMixRange = 2.0f;
     pidController(pidProfile, currentTestTime());
 
-    // Expect no iterm accumulation for yaw
-    EXPECT_FLOAT_EQ(150, pidData[FD_ROLL].I);
-    EXPECT_FLOAT_EQ(-150, pidData[FD_PITCH].I);
+    // Expect no iterm accumulation for all axes
+    EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].I);
+    EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].I);
     EXPECT_FLOAT_EQ(0, pidData[FD_YAW].I);
 
-    // Test itermWindup limit (note: windup limit now only affects yaw)
+    // Test itermWindup limit
     // First store values without exceeding iterm windup limit
     resetTest();
     ENABLE_ARMING_FLAG(ARMED);
@@ -483,10 +483,10 @@ TEST(pidControllerTest, testMixerSaturation) {
     setStickPosition(FD_ROLL, 0.1f);
     setStickPosition(FD_PITCH, -0.1f);
     setStickPosition(FD_YAW, 0.1f);
-    simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1) / 100.0f;
+    simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 2) / 100.0f;
     pidController(pidProfile, currentTestTime());
-    EXPECT_FLOAT_EQ(pidData[FD_ROLL].I, rollTestIterm);
-    EXPECT_FLOAT_EQ(pidData[FD_PITCH].I, pitchTestIterm);
+    EXPECT_LT(pidData[FD_ROLL].I, rollTestIterm);
+    EXPECT_GE(pidData[FD_PITCH].I, pitchTestIterm);
     EXPECT_LT(pidData[FD_YAW].I, yawTestIterm);
 }