diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 1be550c2fe..52a6e35021 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -174,7 +174,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
     pidProfile->levelAngleLimit = 55;
     pidProfile->levelSensitivity = 55;
-    pidProfile->setpointRelaxRatio = 25;
+    pidProfile->setpointRelaxRatio = 20;
     pidProfile->dtermSetpointWeight = 190;
     pidProfile->yawRateAccelLimit = 10.0f;
     pidProfile->rateAccelLimit = 0.0f;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 3ee6ff0963..4594337f33 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -271,7 +271,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
         } else {
             float dynC = dtermSetpointWeight;
             if (pidProfile->setpointRelaxRatio < 100) {
-                dynC *= MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
+                dynC *= MIN(sq(getRcDeflectionAbs(axis)) * relaxFactor, 1.0f);
             }
             const float rD = dynC * currentPidSetpoint - gyroRate;    // cr - y
             // Divide rate change by dT to get differential (ie dr/dt)