diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 59ac1246d3..118dc43ed2 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1419,7 +1419,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_LANDING_THRESHOLD, "%d",   currentPidProfile->ez_landing_threshold);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_LANDING_LIMIT, "%d",       currentPidProfile->ez_landing_limit);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_LANDING_SPEED, "%d",       currentPidProfile->ez_landing_speed);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_EZ_DISARM_THRESHOLD, "%d",    currentPidProfile->ez_landing_disarm_threshold);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_DISARM_THRESHOLD, "%d", currentPidProfile->landing_disarm_threshold);
 
 #ifdef USE_WING
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SPA_ROLL_CENTER, "%d",        currentPidProfile->spa_center[FD_ROLL]);
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index cf5bf048a5..a9c10ffe7c 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1278,7 +1278,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_EZ_LANDING_THRESHOLD,      VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_threshold) },
     { PARAM_NAME_EZ_LANDING_LIMIT,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 75 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_limit) },
     { PARAM_NAME_EZ_LANDING_SPEED,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_speed) },
-    { PARAM_NAME_EZ_DISARM_THRESHOLD,       VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, ez_landing_disarm_threshold) },
+    { PARAM_NAME_LANDING_DISARM_THRESHOLD,       VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, landing_disarm_threshold) },
 
 #ifdef USE_WING
     { PARAM_NAME_SPA_ROLL_CENTER,    VAR_UINT16  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, UINT16_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, spa_center[FD_ROLL]) },
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 2daf813112..b052256ca1 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -266,7 +266,7 @@ static uint16_t cmsx_tpa_breakpoint;
 static int8_t cmsx_tpa_low_rate;
 static uint16_t cmsx_tpa_low_breakpoint;
 static uint8_t cmsx_tpa_low_always;
-static uint8_t cmsx_ez_landing_disarm_threshold;
+static uint8_t cmsx_landing_disarm_threshold;
 
 static const void *cmsx_simplifiedTuningOnEnter(displayPort_t *pDisp)
 {
@@ -611,7 +611,7 @@ static const void *cmsx_profileOtherOnEnter(displayPort_t *pDisp)
     cmsx_tpa_low_rate = pidProfile->tpa_low_rate;
     cmsx_tpa_low_breakpoint = pidProfile->tpa_low_breakpoint;
     cmsx_tpa_low_always = pidProfile->tpa_low_always;
-    cmsx_ez_landing_disarm_threshold = pidProfile->ez_landing_disarm_threshold;
+    cmsx_landing_disarm_threshold = pidProfile->landing_disarm_threshold;
     return NULL;
 }
 
@@ -669,7 +669,7 @@ static const void *cmsx_profileOtherOnExit(displayPort_t *pDisp, const OSD_Entry
     pidProfile->tpa_low_rate = cmsx_tpa_low_rate;
     pidProfile->tpa_low_breakpoint = cmsx_tpa_low_breakpoint;
     pidProfile->tpa_low_always = cmsx_tpa_low_always;
-    pidProfile->ez_landing_disarm_threshold = cmsx_ez_landing_disarm_threshold;
+    pidProfile->landing_disarm_threshold = cmsx_landing_disarm_threshold;
 
     initEscEndpoints();
     return NULL;
@@ -730,7 +730,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "TPA LOW RATE",  OME_INT8,   NULL, &(OSD_INT8_t) { &cmsx_tpa_low_rate, TPA_LOW_RATE_MIN, TPA_MAX , 1} },
     { "TPA LOW BRKPT", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_tpa_low_breakpoint, 1000, 2000, 10} },
     { "TPA LOW ALWYS", OME_Bool,   NULL, &cmsx_tpa_low_always },
-    { "EZDISARM THR",  OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_ez_landing_disarm_threshold, 0, 150, 1} },
+    { "EZDISARM THR",  OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_landing_disarm_threshold, 0, 150, 1} },
 
     { "BACK", OME_Back, NULL, NULL },
     { NULL, OME_END, NULL, NULL}
diff --git a/src/main/fc/parameter_names.h b/src/main/fc/parameter_names.h
index 30540b28b7..7a2414af5c 100644
--- a/src/main/fc/parameter_names.h
+++ b/src/main/fc/parameter_names.h
@@ -65,7 +65,7 @@
 #define PARAM_NAME_EZ_LANDING_THRESHOLD "ez_landing_threshold"
 #define PARAM_NAME_EZ_LANDING_LIMIT "ez_landing_limit"
 #define PARAM_NAME_EZ_LANDING_SPEED "ez_landing_speed"
-#define PARAM_NAME_EZ_DISARM_THRESHOLD "ez_landing_disarm_threshold"
+#define PARAM_NAME_LANDING_DISARM_THRESHOLD "landing_disarm_threshold"
 #define PARAM_NAME_SPA_ROLL_CENTER "spa_roll_center"
 #define PARAM_NAME_SPA_ROLL_WIDTH "spa_roll_width"
 #define PARAM_NAME_SPA_ROLL_MODE "spa_roll_mode"
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index f5be1d0910..5da5f5ef0f 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -236,7 +236,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .spa_center = { 0, 0, 0 },
         .spa_width = { 0, 0, 0 },
         .spa_mode = { 0, 0, 0 },
-        .ez_landing_disarm_threshold = 0                            ,
+        .landing_disarm_threshold = 0, // relatively safe values are around 100
     );
 
 #ifndef USE_D_MIN
@@ -780,7 +780,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
     // if all sticks are within 5% of center, and throttle low, check accDelta for impacts
     // threshold should be high enough to avoid unwanted disarms in the air on throttle chops
     if (isAirmodeActivated() && getMaxRcDeflectionAbs() < 0.05f && mixerGetRcThrottle() < 0.05f &&
-        fabsf(acc.accDelta) > pidRuntime.ezLandingDisarmThreshold) {
+        fabsf(acc.accDelta) > pidRuntime.landingDisarmThreshold) {
         // disarm on accDelta transients
         setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
         disarm(DISARM_REASON_LANDING);
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 6023cd0183..a4291bcd09 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -261,7 +261,7 @@ typedef struct pidProfile_s {
     uint8_t ez_landing_threshold;           // Threshold stick position below which motor output is limited
     uint8_t ez_landing_limit;               // Maximum motor output when all sticks centred and throttle zero
     uint8_t ez_landing_speed;               // Speed below which motor output is limited
-    uint8_t ez_landing_disarm_threshold;    // Accelerometer vector threshold which disarms if exceeded
+    uint8_t landing_disarm_threshold;            // Accelerometer vector delta (jerk) threshold with disarms if exceeded
 
     uint16_t tpa_delay_ms;                  // TPA delay for fixed wings using pt2 filter (time constant)
     uint16_t spa_center[XYZ_AXIS_COUNT];    // RPY setpoint at which PIDs are reduced to 50% (setpoint PID attenuation)
@@ -361,7 +361,7 @@ typedef struct pidRuntime_s {
     float tpaLowMultiplier;
     bool tpaLowAlways;
     bool useEzDisarm;
-    float ezLandingDisarmThreshold;
+    float landingDisarmThreshold;
 
 #ifdef USE_ITERM_RELAX
     pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
diff --git a/src/main/flight/pid_init.c b/src/main/flight/pid_init.c
index 383e71ccc2..3a507a3f51 100644
--- a/src/main/flight/pid_init.c
+++ b/src/main/flight/pid_init.c
@@ -442,8 +442,8 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     pidRuntime.tpaLowMultiplier = pidProfile->tpa_low_rate / (100.0f * pidRuntime.tpaLowBreakpoint);
     pidRuntime.tpaLowAlways = pidProfile->tpa_low_always;
 
-    pidRuntime.useEzDisarm = pidProfile->ez_landing_disarm_threshold > 0;
-    pidRuntime.ezLandingDisarmThreshold = pidProfile->ez_landing_disarm_threshold * 10.0f;
+    pidRuntime.useEzDisarm = pidProfile->landing_disarm_threshold > 0;
+    pidRuntime.landingDisarmThreshold = pidProfile->landing_disarm_threshold * 10.0f;
 
 }
 
diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index 28825708db..afc7d8770e 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -89,8 +89,7 @@ extern "C" {
     bool isAirmodeActivated(void) { return simulatedAirmodeEnabled; }
     float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); }
 
-    // for ezLanding auto-disarm
-    // note that there is no test to check that this code works.
+    // used by ezDisarm auto-disarm code
     float getMaxRcDeflectionAbs() { return fabsf(simulatedMaxRcDeflectionAbs); }
     float mixerGetRcThrottle() { return fabsf(simulatedMixerGetRcThrottle); }