diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 10859b5dcc..55e3d99cc1 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -317,7 +317,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
         pidCoefficient[axis].Kd = DTERM_SCALE * pidProfile->pid[axis].D;
     }
 
-    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
+    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
+	if (dtermSetpointWeight > 2.0f) {
+        dtermSetpointWeight = 10 * (dtermSetpointWeight - 2.0f) + 2.0f;
+    }
     if (pidProfile->setpointRelaxRatio == 0) {
         relaxFactor = 0;
     } else {