diff --git a/locales/en/messages.json b/locales/en/messages.json
index a0bf2d16..587737d5 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -3207,6 +3207,9 @@
     "pidTuningItermRelaxTypeOptionSetpoint": {
         "message": "Setpoint"
     },
+    "pidTuningItermRelaxCutoff": {
+        "message": "Cutoff:"
+    },
     "pidTuningAbsoluteControlGain": {
         "message": "Absolute Control"
     },
diff --git a/src/css/tabs/pid_tuning.css b/src/css/tabs/pid_tuning.css
index a689e4ba..037103e7 100644
--- a/src/css/tabs/pid_tuning.css
+++ b/src/css/tabs/pid_tuning.css
@@ -298,7 +298,8 @@
 }
 
 .tab-pid_tuning table.compensation .suboption {
-    margin-left: 40px;
+    margin-left: 4%;
+    white-space: nowrap;
 }
 
 .tab-pid_tuning table.compensation .suboption select{
@@ -308,6 +309,12 @@
     padding-left: 5px;
 }
 
+.tab-pid_tuning table.compensation .suboption input{
+    display: inline-block;
+    width: 45px;
+    padding-left: 5px;
+}
+
 .tab-pid_tuning .pidTuningFeatures td {
    padding: 5px;
 }
@@ -515,7 +522,7 @@
 }
 
 
-.tab-pid_tuing .pid_titlebar td:first-child {
+.tab-pid_tuning .pid_titlebar td:first-child {
     text-align: left;
 }
 
diff --git a/src/js/fc.js b/src/js/fc.js
index e7a3a320..02bc242c 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -400,6 +400,7 @@ var FC = {
             smartFeedforward:           0,
             itermRelax:                 0,
             itermRelaxType:             0,
+            itermRelaxCutoff:           0,
             absoluteControlGain:        0,
             throttleBoost:              0,
             acroTrainerAngleLimit:      0,
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 921e0e38..56b52be1 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -1044,6 +1044,10 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                         ADVANCED_TUNING.dMinAdvance = data.readU8();
                                         ADVANCED_TUNING.useIntegratedYaw = data.readU8();
                                         ADVANCED_TUNING.integratedYawRelax = data.readU8();
+
+                                        if(semver.gte(CONFIG.apiVersion, "1.42.0")) {
+                                            ADVANCED_TUNING.itermRelaxCutoff = data.readU8();
+                                        }
                                     }
                                 }
                             }
@@ -1798,6 +1802,10 @@ MspHelper.prototype.crunch = function(code) {
                                           .push8(ADVANCED_TUNING.dMinAdvance)
                                           .push8(ADVANCED_TUNING.useIntegratedYaw)
                                           .push8(ADVANCED_TUNING.integratedYawRelax);
+                                          
+                                    if(semver.gte(CONFIG.apiVersion, "1.42.0")) {
+                                        buffer.push8(ADVANCED_TUNING.itermRelaxCutoff);
+                                    }
                                 }
                             }
                         }
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 911d287b..7cf6e6ab 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -203,6 +203,7 @@ TABS.pid_tuning.initialize = function (callback) {
             itermRelaxCheck.prop('checked', ADVANCED_TUNING.itermRelax !== 0);
             $('select[id="itermrelaxAxes"]').val(ADVANCED_TUNING.itermRelax > 0 ? ADVANCED_TUNING.itermRelax : 1);
             $('select[id="itermrelaxType"]').val(ADVANCED_TUNING.itermRelaxType);
+            $('input[name="itermRelaxCutoff"]').val(ADVANCED_TUNING.itermRelaxCutoff);
 
             itermRelaxCheck.change(function() {
                 var checked = $(this).is(':checked');
@@ -350,6 +351,9 @@ TABS.pid_tuning.initialize = function (callback) {
 
         if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
             $('.smartfeedforward').hide();
+            $('.itermRelaxCutoff').show();
+        } else {
+            $('.itermRelaxCutoff').hide();
         }
 
         $('input[id="useIntegratedYaw"]').change(function() {
@@ -638,6 +642,7 @@ TABS.pid_tuning.initialize = function (callback) {
 
             ADVANCED_TUNING.itermRelax = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxAxes"]').val() : 0;
             ADVANCED_TUNING.itermRelaxType = $('input[id="itermrelax"]').is(':checked') ? $('select[id="itermrelaxType"]').val() : 0;
+            ADVANCED_TUNING.itermRelaxCutoff = parseInt($('input[name="itermRelaxCutoff"]').val());
 
             ADVANCED_TUNING.absoluteControlGain = $('input[name="absoluteControlGain-number"]').val();
 
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index ea8916ea..16e94cb6 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -488,6 +488,13 @@
                                         </select>
                                     </span>
 
+                                    <span class="itermRelaxCutoff suboption">
+                                        <label for="itermRelaxCutoff">
+                                            <span i18n="pidTuningItermRelaxCutoff" />
+                                        </label>
+                                        <input type="number" name="itermRelaxCutoff" step="1" min="1" max="100" />
+                                    </span>
+
                                     <div class="helpicon cf_tip" i18n_title="pidTuningItermRelaxHelp"></div>
                                 </td>
                             </tr>