diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 19c518a25b..6d46965237 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -176,7 +176,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .acro_trainer_lookahead_ms = 50,
         .acro_trainer_debug_axis = FD_ROLL,
         .acro_trainer_gain = 75,
-        .abs_control_gain = 0,
+        .abs_control_gain = 5,
         .abs_control_limit = 90,
         .abs_control_error_limit = 20,
         .abs_control_cutoff = 11,
@@ -638,6 +638,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     acLimit = (float)pidProfile->abs_control_limit;
     acErrorLimit = (float)pidProfile->abs_control_error_limit;
     acCutoff = (float)pidProfile->abs_control_cutoff;
+    for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
+        float iCorrection = -acGain * PTERM_SCALE / ITERM_SCALE * pidCoefficient[axis].Kp;
+        pidCoefficient[axis].Ki = MAX(0.0f, pidCoefficient[axis].Ki + iCorrection);
+    }
 #endif
 
 #ifdef USE_DYN_LPF