diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 3de6465c49..cc1742b8a4 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -267,7 +267,8 @@ static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT uint8_t itermRelax;
 static FAST_RAM_ZERO_INIT uint8_t itermRelaxType;
-static FAST_RAM_ZERO_INIT uint8_t itermRelaxCutoff;
+static uint8_t itermRelaxCutoff;
+static FAST_RAM_ZERO_INIT float itermRelaxSetpointThreshold;
 #endif
 
 #if defined(USE_ABSOLUTE_CONTROL)
@@ -615,10 +616,12 @@ void pidInitConfig(const pidProfile_t *pidProfile)
 #if defined(USE_SMART_FEEDFORWARD)
     smartFeedforward = pidProfile->smart_feedforward;
 #endif
+
 #if defined(USE_ITERM_RELAX)
     itermRelax = pidProfile->iterm_relax;
     itermRelaxType = pidProfile->iterm_relax_type;
     itermRelaxCutoff = pidProfile->iterm_relax_cutoff;
+    itermRelaxSetpointThreshold = ITERM_RELAX_SETPOINT_THRESHOLD * 20.0f / itermRelaxCutoff;
 #endif
 
 #ifdef USE_ACRO_TRAINER
@@ -1107,16 +1110,13 @@ STATIC_UNIT_TESTED void applyItermRelax(const int axis, const float iterm,
     const float setpointLpf = pt1FilterApply(&windupLpf[axis], *currentPidSetpoint);
     const float setpointHpf = fabsf(*currentPidSetpoint - setpointLpf);
 
-    if (itermRelax &&
-       (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY ||
-       itermRelax == ITERM_RELAX_RPY_INC)) {
-        const float itermRelaxFactor = 1 - setpointHpf / ITERM_RELAX_SETPOINT_THRESHOLD;
-
+    if (itermRelax && (axis < FD_YAW || itermRelax == ITERM_RELAX_RPY || itermRelax == ITERM_RELAX_RPY_INC)) {
+        const float itermRelaxFactor = MAX(0, 1 - setpointHpf / itermRelaxSetpointThreshold);
         const bool isDecreasingI =
             ((iterm > 0) && (*itermErrorRate < 0)) || ((iterm < 0) && (*itermErrorRate > 0));
         if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
             // Do Nothing, use the precalculed itermErrorRate
-        } else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < ITERM_RELAX_SETPOINT_THRESHOLD) {
+        } else if (itermRelaxType == ITERM_RELAX_SETPOINT) {
             *itermErrorRate *= itermRelaxFactor;
         } else if (itermRelaxType == ITERM_RELAX_GYRO ) {
             *itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index ac9110b1c8..57475e17ef 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -44,6 +44,7 @@
 // This value gives the same "feel" as the previous Kd default of 26 (26 * DTERM_SCALE)
 #define FEEDFORWARD_SCALE 0.013754f
 
+// Full iterm suppression at 40deg/sec * default cutoff of 20
 #define ITERM_RELAX_SETPOINT_THRESHOLD 30.0f
 
 typedef enum {
diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index 0ecba83b84..af504102b4 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -529,12 +529,12 @@ TEST(pidControllerTest, testItermRelax) {
 
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
 
-    ASSERT_NEAR(-6.66, itermErrorRate, calculateTolerance(-6.66));
+    ASSERT_NEAR(-8.16, itermErrorRate, calculateTolerance(-6.66));
     currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    EXPECT_FLOAT_EQ(itermErrorRate, 0);
+    ASSERT_NEAR(-2.17, itermErrorRate, calculateTolerance(-2.17));
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    EXPECT_FLOAT_EQ(itermErrorRate, 0);
+    ASSERT_NEAR(-0.58, itermErrorRate, calculateTolerance(-0.58));
 
     pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
     pidInit(pidProfile);
@@ -578,7 +578,7 @@ TEST(pidControllerTest, testItermRelax) {
     pidProfile->iterm_relax = ITERM_RELAX_RPY;
     pidInit(pidProfile);
     applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    ASSERT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
+    ASSERT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
 }
 
 // TODO - Add more tests