From 00414b29b6a964505703f75b1bfe8a8680abf90e Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Fri, 8 Sep 2017 14:58:47 +0200
Subject: [PATCH] Correct setpoint behaviour

---
 src/main/config/config_eeprom.h | 2 +-
 src/main/flight/pid.c           | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h
index 408a8e11aa..382e7d14c2 100644
--- a/src/main/config/config_eeprom.h
+++ b/src/main/config/config_eeprom.h
@@ -20,7 +20,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-#define EEPROM_CONF_VERSION 162
+#define EEPROM_CONF_VERSION 163
 
 bool isEEPROMContentValid(void);
 bool loadEEPROM(void);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 670b8213f9..fdd7615f69 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -99,7 +99,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
         .setpointRelaxRatio = 100,
-        .dtermSetpointWeight = 60,
+        .dtermSetpointWeight = 0,
         .yawRateAccelLimit = 100,
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 350,
@@ -488,7 +488,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
 
             float dynC = 0;
-            if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
+            if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
                 dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
             }
             const float rD = dynC * currentPidSetpoint - gyroRateFiltered;    // cr - y