diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c
index aa01f6925..1f2e862af 100644
--- a/flight/modules/TxPID/txpid.c
+++ b/flight/modules/TxPID/txpid.c
@@ -404,13 +404,13 @@ static void updatePIDs(UAVObjEvent *ev)
                 needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
                 break;
             case TXPIDSETTINGS_PIDS_ACCELTAU:
-                needsUpdateAtt |= update(&att.AccelTau, value);
+                needsUpdateAtt  |= update(&att.AccelTau, value);
                 break;
             case TXPIDSETTINGS_PIDS_ACCELKP:
-                needsUpdateAtt |= update(&att.AccelKp, value);
+                needsUpdateAtt  |= update(&att.AccelKp, value);
                 break;
             case TXPIDSETTINGS_PIDS_ACCELKI:
-                needsUpdateAtt |= update(&att.AccelKi, value);
+                needsUpdateAtt  |= update(&att.AccelKi, value);
                 break;
 
 #ifdef REVOLUTION
@@ -446,12 +446,13 @@ static void updatePIDs(UAVObjEvent *ev)
         AltitudeHoldSettingsSet(&altitude);
     }
 #endif
+    if (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE) {
+        float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
+        needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
+        needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);
+        needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.YawRateFactors.D);
+    }
     if (needsUpdateBank) {
-        if(inst.RatePIDRecalculateYaw == TXPIDSETTINGS_RATEPIDRECALCULATEYAW_ENABLED){
-            update(&bank.YawRatePID.Kp, (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P);
-            update(&bank.YawRatePID.Ki, bank.YawRatePID.Kp * inst.YawRateFactors.I);
-            update(&bank.YawRatePID.Kd, bank.YawRatePID.Kp * inst.YawRateFactors.D);
-        }
         switch (inst.BankNumber) {
         case 0:
             StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml
index 2464619d6..43adc6574 100644
--- a/shared/uavobjectdefinition/txpidsettings.xml
+++ b/shared/uavobjectdefinition/txpidsettings.xml
@@ -30,7 +30,7 @@
 
 	<field name="PitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
 	<field name="YawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
-	<field name="RatePIDRecalculateYaw" units="" type="enum" elements="1" options="Disabled,Enabled" defaultvalue="Disabled"/>
+	<field name="RatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
 
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>