diff --git a/docs/development/PID Internals.md b/docs/development/PID Internals.md
index a4ed3fce28..5b921522ed 100644
--- a/docs/development/PID Internals.md	
+++ b/docs/development/PID Internals.md	
@@ -42,5 +42,5 @@ reset I term if
 
 ```
 P = -gyroData[axis] / 4 * dynP8 / 10 / 8
-D = -mean(diff(gyroData[axis] / 4), over 3 samples) * 3 * dynP8 / 32
+D = -mean(diff(gyroData[axis] / 4), over 3 samples) * 3 * dynD8 / 32
 ```
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