diff --git a/src/main/config/config.c b/src/main/config/config.c
index 9baa2b4d83..3afa8fa1a2 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -163,7 +163,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->I8[PIDALT] = 0;     // not used
     pidProfile->D8[PIDALT] = 0;     // not used
     pidProfile->P8[PIDPOS] = 15;    // NAV_POS_XY_P * 100
-    pidProfile->I8[PIDPOS] = 0;     // not used
+    pidProfile->I8[PIDPOS] = 100;   // posDecelerationTime * 100
     pidProfile->D8[PIDPOS] = 0;     // not used
     pidProfile->P8[PIDPOSR] = 90;   // NAV_VEL_XY_P * 100
     pidProfile->I8[PIDPOSR] = 15;   // NAV_VEL_XY_I * 100
diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c
index 65f9da6954..07aa4c8091 100755
--- a/src/main/flight/navigation_rewrite.c
+++ b/src/main/flight/navigation_rewrite.c
@@ -1909,7 +1909,10 @@ void navigationUsePIDs(pidProfile_t *initialPidProfile)
 
     posControl.pidProfile = initialPidProfile;
 
-    // Initialize position hold PI-controller
+    // Brake time parameter
+    posControl.posDecelerationTime = (float)posControl.pidProfile->I8[PIDPOS] / 100.0f;
+
+    // Initialize position hold P-controller
     for (axis = 0; axis < 2; axis++) {
         navPInit(&posControl.pids.pos[axis], (float)posControl.pidProfile->P8[PIDPOS] / 100.0f);
 
diff --git a/src/main/flight/navigation_rewrite_multicopter.c b/src/main/flight/navigation_rewrite_multicopter.c
index 44e88ace8a..a193d399ef 100755
--- a/src/main/flight/navigation_rewrite_multicopter.c
+++ b/src/main/flight/navigation_rewrite_multicopter.c
@@ -474,8 +474,8 @@ void applyMulticopterEmergencyLandingController(uint32_t currentTime)
  *-----------------------------------------------------------*/
 void calculateMulticopterInitialHoldPosition(t_fp_vector * pos)
 {
-    float stoppingDistanceX = posControl.actualState.vel.V.X / posControl.pids.pos[X].param.kP;
-    float stoppingDistanceY = posControl.actualState.vel.V.Y / posControl.pids.pos[Y].param.kP;
+    float stoppingDistanceX = posControl.actualState.vel.V.X * posControl.posDecelerationTime;
+    float stoppingDistanceY = posControl.actualState.vel.V.Y * posControl.posDecelerationTime;
 
     pos->V.X = posControl.actualState.pos.V.X + stoppingDistanceX;
     pos->V.Y = posControl.actualState.pos.V.Y + stoppingDistanceY;
diff --git a/src/main/flight/navigation_rewrite_private.h b/src/main/flight/navigation_rewrite_private.h
index 9e8f5b7db8..747f51e80f 100755
--- a/src/main/flight/navigation_rewrite_private.h
+++ b/src/main/flight/navigation_rewrite_private.h
@@ -223,8 +223,9 @@ typedef struct {
     bool                    enabled;
     navigationFlags_t       flags;
 
-    /* Navigation PID controllers */
+    /* Navigation PID controllers + pre-computed flight parameters */
     navigationPIDControllers_t  pids;
+    float                       posDecelerationTime;
 
     /* Local system state, both actual (estimated) and desired (target setpoint)*/
     navigationEstimatedState_t  actualState;