From b6e0927f96c2234363a6d81526034ae3ca8093b3 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Sun, 10 Jan 2016 21:22:42 +0100
Subject: [PATCH] Fix wrong filter selection and Scaling in Rewrite

---
 src/main/common/filter.c | 5 ++---
 src/main/flight/pid.c    | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index d2d7f9875c..d78a5dbb9b 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -41,9 +41,8 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
 static int8_t gyroFIRCoeff_500[FILTER_TAPS] = { 0, 18, 14, 16, 20, 22, 24, 25, 25, 24, 20, 18, 12, 18 };  // looptime=500;
 static int8_t gyroFIRCoeff_1000[FILTER_TAPS] = { 0, 0, 0, 0, 0, 0, 0, 12, 23, 40, 51, 52, 40, 38 }; // looptime=1000; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz
 
-
-static int8_t deltaFIRCoeff_500[FILTER_TAPS] = {0, 0, 0, 0, 0, 18, 12, 28, 40, 44, 40, 32, 22, 20};
-static int8_t deltaFIRCoeff_1000[FILTER_TAPS] = {36, 12, 14, 14, 16, 16, 18, 18, 18, 16, 16, 14, 12, 36};
+static int8_t deltaFIRCoeff_500[FILTER_TAPS] = {36, 12, 14, 14, 16, 16, 18, 18, 18, 16, 16, 14, 12, 36};
+static int8_t deltaFIRCoeff_1000[FILTER_TAPS] = {0, 0, 0, 0, 0, 18, 12, 28, 40, 44, 40, 32, 22, 20};
 
 int8_t * filterGetFIRCoefficientsTable(uint8_t filter_type, uint32_t targetLooptime)
 {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 879148bca6..ee0508bce1 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -364,7 +364,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
 
         filterApplyFIR(&delta, deltaFIRState[axis], deltaFIRTable);
 
-        DTerm = (delta * 2 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
+        DTerm = (delta * 3 * pidProfile->D8[axis] * PIDweight[axis] / 100) >> 8;
 
         // -----calculate total PID output
         axisPID[axis] = PTerm + ITerm + DTerm;