diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 17d5e45636..15dfe3f29e 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3213,9 +3213,9 @@ void navigationUsePIDs(void)
                                         NAV_DTERM_CUT_HZ
     );
 
-    navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 100.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 100.0f,
-                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 100.0f,
+    navPidInit(&posControl.pids.fw_heading, (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].P / 10.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].I / 10.0f,
+                                        (float)pidProfile()->bank_fw.pid[PID_POS_HEADING].D / 10.0f,
                                         0.0f,
                                         2.0f
     );
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 78a6b56040..9130b10e8a 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -354,6 +354,8 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
             limit = pidProfile()->navFwPosHdgPidsumLimit * 100.0f;
         }
 
+        const pidControllerFlags_e yawPidFlags = errorIsDecreasing ? PID_SHRINK_INTEGRATOR : 0;
+
         float yawAdjustment = navPidApply2(
             &posControl.pids.fw_heading, 
             0, 
@@ -361,7 +363,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
             US2S(deltaMicros),
             -limit,
             limit,
-            pidFlags
+            yawPidFlags
             ) / 100.0f;
 
         DEBUG_SET(DEBUG_NAV_YAW, 0, posControl.pids.fw_heading.proportional);