diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index ab6ef6b8..def2d67e 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -1640,6 +1640,12 @@
     "pidTuningBasic": {
         "message": "Basic/Acro"
     },
+    "pidTuningYawJumpPrevention": {
+        "message": "Yaw Jump Prevention"
+    },
+    "pidTuningYawJumpPreventionHelp": {
+        "message": "Keeps the craft from jumping up at the end of yaws."
+    },
     "pidTuningLevel": {
         "message": "Angle/Horizon"
     },
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index 8f0a043d..31d2bc8b 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -77,9 +77,9 @@
                         <tr class="ROLL">
                             <!-- 0 -->
                             <td bgcolor="#FF8080"></td>
-                            <td><input type="number" name="p" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="i" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="d" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
                             <td rowspan="2" style="background-color:white;">
                                 <input type="number" name="rc_rate" step="0.01" min="0" max="2.5" />
                                 <div class="bracket"></div>
@@ -94,21 +94,31 @@
                         <tr class="PITCH">
                             <!-- 1 -->
                             <td bgcolor="#80FF80"></td>
-                            <td><input type="number" name="p" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="i" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="d" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
                             <td class="pitch_rate"><input type="number" name="pitch_rate" step="0.01" min="0" max="1.00" /></td>
                         </tr>
                         <tr class="YAW">
                             <!-- 2 -->
                             <td bgcolor="#8080FF"></td>
-                            <td><input type="number" name="p" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="i" step="1" min="0" max="255" /></td>
-                            <td><input type="number" name="d" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="p" step="1" min="0" max="255" /></td>
+                            <td class="pid_data"><input type="number" name="i" step="1" min="0" max="255" /></td>
+                            <td></td>
                             <td rowspan="1"><input type="number" name="rc_rate_yaw" step="0.01" min="0" max="2.5" /></td>
                             <td><input type="number" name="yaw_rate" step="0.01" min="0" max="2.55" /></td>
                             <td><input type="number" name="rc_yaw_expo" step="0.01" min="0" max="1" /></td>
                         </tr>
+                        <tr class="YAW_JUMP_PREVENTION">
+                            <td colspan = 3>
+                                <div>
+				    <div i18n="pidTuningYawJumpPrevention" style="float:left;"></div>
+                                    <div class="helpicon cf_tip" i18n_title="pidTuningYawJumpPreventionHelp"></div>
+				</div>
+                            </td>
+                            <td class="pid_data"><input type="number" name="d" step="1" min="0" max="255" /></td>
+                            <td colspan=3></td>
+                        </tr>
                     </table>
                 </div>
                 <div id="pid_optional" class="gui_box grey topspacer pid_tuning">
diff --git a/tabs/pid_tuning.js b/tabs/pid_tuning.js
index f08f3da4..c4189145 100755
--- a/tabs/pid_tuning.js
+++ b/tabs/pid_tuning.js
@@ -120,6 +120,10 @@ TABS.pid_tuning.initialize = function (callback) {
                 case 1:
                     $(this).val(PIDs[2][i++]);
                     break;
+            }
+        });
+        $('.pid_tuning .YAW_JUMP_PREVENTION input').each(function () {
+            switch (i) {
                 case 2:
                     $(this).val(PIDs[2][i++]);
                     break;
@@ -272,17 +276,20 @@ TABS.pid_tuning.initialize = function (callback) {
         // Fill in the data from PIDs array
         // Catch all the changes and stuff the inside PIDs array
         var i = 0;
-        $('table.pid_tuning tr.ROLL input').each(function () {
+        $('table.pid_tuning tr.ROLL .pid_data input').each(function () {
             PIDs[0][i++] = parseFloat($(this).val());
         });
 
         i = 0;
-        $('table.pid_tuning tr.PITCH input').each(function () {
+        $('table.pid_tuning tr.PITCH .pid_data input').each(function () {
             PIDs[1][i++] = parseFloat($(this).val());
         });
 
         i = 0;
-        $('table.pid_tuning tr.YAW input').each(function () {
+        $('table.pid_tuning tr.YAW .pid_data input').each(function () {
+            PIDs[2][i++] = parseFloat($(this).val());
+        });
+        $('table.pid_tuning tr.YAW_JUMP_PREVENTION .pid_data input').each(function () {
             PIDs[2][i++] = parseFloat($(this).val());
         });
 
@@ -966,11 +973,15 @@ TABS.pid_tuning.checkUpdateProfile = function (updateRateProfile) {
 TABS.pid_tuning.updatePidControllerParameters = function () {
     if (semver.gte(CONFIG.flightControllerVersion, "3.0.0")) {
         if ($('.tab-pid_tuning select[name="controller"]').val() === '0') {
+            $('.pid_tuning .YAW_JUMP_PREVENTION').show();
+
             $('#pid-tuning .delta').show();
 
             $('#pid-tuning .ptermSetpoint').hide();
             $('#pid-tuning .dtermSetpoint').hide();
         } else {
+            $('.pid_tuning .YAW_JUMP_PREVENTION').hide();
+
             $('#pid-tuning .ptermSetpoint').show();
             $('#pid-tuning .dtermSetpoint').show();