diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index 152913f189..0fce8bb347 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -237,7 +237,7 @@ static CMS_Menu cmsx_menuRateProfile = {
     .entries = cmsx_menuRateProfileEntries
 };
 
-static uint8_t  cmsx_dtermSetpointWeight;
+static uint16_t  cmsx_dtermSetpointWeight;
 static uint8_t  cmsx_setpointRelaxRatio;
 static uint8_t  cmsx_angleStrength;
 static uint8_t  cmsx_horizonStrength;
@@ -285,7 +285,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self)
 static OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "-- OTHER PP --", OME_Label, NULL, pidProfileIndexString, 0 },
 
-    { "D SETPT WT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_dtermSetpointWeight,    0,    255,   1, 10 }, 0 },
+    { "D SETPT WT",  OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_dtermSetpointWeight,    0,    2000,   1, 10 }, 0 },
     { "SETPT TRS",   OME_FLOAT,  NULL, &(OSD_FLOAT_t)  { &cmsx_setpointRelaxRatio,     0,    100,   1, 10 }, 0 },
     { "ANGLE STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_angleStrength,          0,    200,   1  }   , 0 },
     { "HORZN STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonStrength,        0,    200,   1  }   , 0 },
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index 8018f44577..261c4eb235 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -401,7 +401,7 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
         break;
     case ADJUSTMENT_D_SETPOINT:
-        newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in cli.c
+        newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 2000); // FIXME magic numbers repeated in cli.c
         pidProfile->dtermSetpointWeight = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
         break;
@@ -550,7 +550,7 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
         break;
     case ADJUSTMENT_D_SETPOINT:
-        newValue = constrain(value, 0, 254); // FIXME magic numbers repeated in cli.c
+        newValue = constrain(value, 0, 2000); // FIXME magic numbers repeated in cli.c
         pidProfile->dtermSetpointWeight = newValue;
         blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
         break;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 325d9e4149..10859b5dcc 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -317,10 +317,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
     }
 
-    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
-    if (dtermSetpointWeight > 2.0f) {
-        dtermSetpointWeight = 10 * (dtermSetpointWeight - 2.0f) + 2.0f;
-    }
+    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
     if (pidProfile->setpointRelaxRatio == 0) {
         relaxFactor = 0;
     } else {
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 37bba45d76..3f4cd89bfc 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -98,7 +98,7 @@ typedef struct pidProfile_s {
     uint16_t itermThrottleThreshold;        // max allowed throttle delta before iterm accelerated in ms
     uint16_t itermAcceleratorGain;          // Iterm Accelerator Gain when itermThrottlethreshold is hit
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
-    uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
+    uint16_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > aggressive derivative)
     uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
     uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
     uint16_t crash_dthreshold;              // dterm crash value
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index 53021236f5..f9a7fc2bed 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1224,8 +1224,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, currentPidProfile->vbatPidCompensation);
         sbufWriteU8(dst, currentPidProfile->setpointRelaxRatio);
-        sbufWriteU8(dst, currentPidProfile->dtermSetpointWeight);
-        sbufWriteU8(dst, 0); // reserved
+        sbufWriteU16(dst, currentPidProfile->dtermSetpointWeight);
+//        sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU16(dst, currentPidProfile->rateAccelLimit);
@@ -1680,8 +1680,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         sbufReadU8(src); // reserved
         currentPidProfile->vbatPidCompensation = sbufReadU8(src);
         currentPidProfile->setpointRelaxRatio = sbufReadU8(src);
-        currentPidProfile->dtermSetpointWeight = sbufReadU8(src);
-        sbufReadU8(src); // reserved
+        currentPidProfile->dtermSetpointWeight = sbufReadU16(src);  // not sure, if this is OK. Low bit is written 1st, so it should be compatible
+//        sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
         currentPidProfile->rateAccelLimit = sbufReadU16(src);
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index a872320b73..2b8d53e25e 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -737,7 +737,7 @@ const clivalue_t valueTable[] = {
     { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
     { "anti_gravity_gain",          VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, setpointRelaxRatio) },
-    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 254 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
+    { "dterm_setpoint_weight",      VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermSetpointWeight) },
     { "acc_limit_yaw",              VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
     { "acc_limit",                  VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },
     { "crash_dthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_dthreshold) },