diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index f179adab6e..12aa1a4142 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -694,11 +694,11 @@ void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
 
     // Calculate and Limit the PIDsum
     const float scaledAxisPidRoll =
-        constrainf(axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
+        constrainf(axisPIDSum[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
     const float scaledAxisPidPitch =
-        constrainf(axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
+        constrainf(axisPIDSum[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
     float scaledAxisPidYaw =
-        constrainf(axisPID_P[FD_YAW] + axisPID_I[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
+        constrainf(axisPIDSum[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
     if (!mixerConfig()->yaw_motors_reversed) {
         scaledAxisPidYaw = -scaledAxisPidYaw;
     }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 27b4fe6d43..5ab587d1d9 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -56,7 +56,7 @@ static FAST_RAM bool pidStabilisationEnabled;
 
 static FAST_RAM bool inCrashRecoveryMode = false;
 
-FAST_RAM float axisPID_P[3], axisPID_I[3], axisPID_D[3];
+FAST_RAM float axisPID_P[3], axisPID_I[3], axisPID_D[3], axisPIDSum[3];
 
 static FAST_RAM float dT;
 
@@ -530,6 +530,9 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                 }
             }
             axisPID_D[axis] = Kd[axis] * delta * tpaFactor;
+            axisPIDSum[axis] = axisPID_P[axis] + axisPID_I[axis] + axisPID_D[axis];
+        } else {
+            axisPIDSum[axis] = axisPID_P[axis] + axisPID_I[axis];
         }
 
         // Disable PID control if at zero throttle or if gyro overflow detected
@@ -537,6 +540,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             axisPID_P[axis] = 0;
             axisPID_I[axis] = 0;
             axisPID_D[axis] = 0;
+            axisPIDSum[axis] = 0;
         }
     }
 }
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index ca032d7904..7f536139c3 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -121,6 +121,7 @@ union rollAndPitchTrims_u;
 void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, timeUs_t currentTimeUs);
 
 extern float axisPID_P[3], axisPID_I[3], axisPID_D[3];
+extern float axisPIDSum[3];
 bool airmodeWasActivated;
 extern uint32_t targetPidLooptime;
 
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index a1947d2dab..1e2cc2a8fd 100644
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -401,9 +401,9 @@ void servoMixer(void)
         input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
     } else {
         // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
-        input[INPUT_STABILIZED_ROLL] = (axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) * PID_SERVO_MIXER_SCALING;
-        input[INPUT_STABILIZED_PITCH] = (axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) * PID_SERVO_MIXER_SCALING;
-        input[INPUT_STABILIZED_YAW] = (axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) * PID_SERVO_MIXER_SCALING;
+        input[INPUT_STABILIZED_ROLL] = axisPIDSum[FD_ROLL] * PID_SERVO_MIXER_SCALING;
+        input[INPUT_STABILIZED_PITCH] = axisPIDSum[FD_PITCH] * PID_SERVO_MIXER_SCALING;
+        input[INPUT_STABILIZED_YAW] = axisPIDSum[FD_YAW] * PID_SERVO_MIXER_SCALING;
 
         // Reverse yaw servo when inverted in 3D mode
         if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->midrc)) {