From 3f3fb0c01c5b63c8231048d2242b8ad8d9c7ef4b Mon Sep 17 00:00:00 2001
From: Michael Keller <github@ike.ch>
Date: Wed, 6 Jun 2018 11:21:11 +1200
Subject: [PATCH] Changed 'dtermSetpointWeight' to use decimal scaling.

---
 src/main/flight/pid.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4462f7db1e..6dd62ae7c9 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -125,7 +125,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .pidAtMinThrottle = PID_STABILISATION_ON,
         .levelAngleLimit = 55,
         .setpointRelaxRatio = 100,
-        .dtermSetpointWeight = 0,
+        .dtermSetpointWeight = 45,
         .yawRateAccelLimit = 100,
         .rateAccelLimit = 0,
         .itermThrottleThreshold = 350,
@@ -390,7 +390,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
     }
 
-    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
+    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
     if (pidProfile->setpointRelaxRatio == 0) {
         relaxFactor = 0;
     } else {