From 723b71a4d0be34fa87da632c8f7855986b090317 Mon Sep 17 00:00:00 2001
From: jirif <jiri.fojtasek@gmail.com>
Date: Sun, 3 Sep 2017 17:57:22 +0200
Subject: [PATCH] BF 3.2 setpointweight is disabled by default

fix for https://github.com/betaflight/betaflight/issues/4017
---
 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 842d172094..c3ce0798b9 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -489,7 +489,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
 
             float dynC = 0;
-            if ( (pidProfile->setpointRelaxRatio < 100) && (!flightModeFlags) ) {
+            if ( (pidProfile->dtermSetpointWeight > 0) && (!flightModeFlags) ) {
                 dynC = dtermSetpointWeight * MIN(getRcDeflectionAbs(axis) * relaxFactor, 1.0f);
             }
             const float rD = dynC * currentPidSetpoint - gyroRateFiltered;    // cr - y