From 0186a7b88d67e94d62594b6bbf8c022f21912fc2 Mon Sep 17 00:00:00 2001
From: KarateBrot <Rm2k-Freak@web.de>
Date: Sat, 9 Jul 2022 03:59:16 +0200
Subject: [PATCH] Fix debug mode D_LPF

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 455c7722af..b6a3c5baca 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -910,11 +910,11 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
         // This is done to avoid DTerm spikes that occur with dynamically
         // calculated deltaT whenever another task causes the PID
         // loop execution to be delayed.
-        previousRawGyroRateDterm[axis] = gyroRateDterm[axis];
 
         // Log the unfiltered D for ROLL and PITCH
         if (axis != FD_YAW) {
             const float delta = (previousRawGyroRateDterm[axis] - gyroRateDterm[axis]) * pidRuntime.pidFrequency / D_LPF_RAW_SCALE;
+            previousRawGyroRateDterm[axis] = gyroRateDterm[axis];
             DEBUG_SET(DEBUG_D_LPF, axis, lrintf(delta));
         }