diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index 281a9372b2..20b9132b67 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -567,9 +567,10 @@ const clivalue_t valueTable[] = {
     { "crash_recovery",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CRASH_RECOVERY }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery) },
 
     { "iterm_windup",               VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
-    { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
+    { "iterm_limit",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },
     { "pidsum_limit",               VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 100, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },
     { "pidsum_limit_yaw",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 100, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimitYaw) },
+    { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].P) },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_PITCH].I) },
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b95cc16b04..63903dff81 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -115,7 +115,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .crash_recovery = PID_CRASH_RECOVERY_OFF, // off by default
         .horizon_tilt_effect = 75,
         .horizon_tilt_expert_mode = false,
-        .crash_limit_yaw = 200
+        .crash_limit_yaw = 200,
+        .itermLimit = 100
     );
 }
 
@@ -242,7 +243,7 @@ static float maxVelocity[3];
 static float relaxFactor;
 static float dtermSetpointWeight;
 static float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
-static float ITermWindupPoint, ITermWindupPointInv;
+static float ITermWindupPointInv;
 static uint8_t horizonTiltExpertMode;
 static timeDelta_t crashTimeLimitUs;
 static timeDelta_t crashTimeDelayUs;
@@ -252,6 +253,7 @@ static float crashDtermThreshold;
 static float crashGyroThreshold;
 static float crashSetpointThreshold;
 static float crashLimitYaw;
+static float itermLimit;
 
 void pidInitConfig(const pidProfile_t *pidProfile)
 {
@@ -270,7 +272,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     horizonFactorRatio = (100 - pidProfile->horizon_tilt_effect) * 0.01f;
     maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * dT;
     maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * dT;
-    ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
+    const float ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
     ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
     crashTimeLimitUs = pidProfile->crash_time * 1000;
     crashTimeDelayUs = pidProfile->crash_delay * 1000;
@@ -280,6 +282,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     crashDtermThreshold = pidProfile->crash_dthreshold;
     crashSetpointThreshold = pidProfile->crash_setpoint_threshold;
     crashLimitYaw = pidProfile->crash_limit_yaw;
+    itermLimit = pidProfile->itermLimit;
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -456,7 +459,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
 
         // -----calculate I component
         const float ITerm = axisPID_I[axis];
-        const float ITermNew = ITerm + Ki[axis] * errorRate * dT * dynKi * itermAccelerator;
+        const float ITermNew = constrainf(ITerm + Ki[axis] * errorRate * dT * dynKi * itermAccelerator, -itermLimit, itermLimit);
         const bool outputSaturated = mixerIsOutputSaturated(axis, errorRate);
         if (outputSaturated == false || ABS(ITermNew) < ABS(ITerm)) {
             // Only increase ITerm if output is not saturated
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 850d9b2e8f..e487e9e8cb 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -106,6 +106,7 @@ typedef struct pidProfile_s {
     uint8_t crash_recovery_rate;            // degree/second
     pidCrashRecovery_e crash_recovery;      // off, on, on and beeps when it is in crash recovery mode
     uint16_t crash_limit_yaw;               // limits yaw errorRate, so crashes don't cause huge throttle increase
+    uint16_t itermLimit;
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);