diff --git a/docs/Settings.md b/docs/Settings.md
index c919327194..b8e47c57f1 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -258,7 +258,7 @@ Inertia force compensation method when gps is avaliable, VELNED use the acclerat
 
 | Default | Min | Max |
 | --- | --- | --- |
-| VELNED |  |  |
+| ADAPTIVE |  |  |
 
 ---
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 261bf14a56..37fb701af3 100755
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1452,7 +1452,7 @@ groups:
         type: bool
       - name: ahrs_inertia_comp_method
         description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
-        default_value: VELNED
+        default_value: ADAPTIVE
         field: inertia_comp_method
         table: imu_inertia_comp_method
 
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index c9d0f0aacb..43673e790d 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -719,6 +719,7 @@ static void imuCalculateEstimatedAttitude(float dT)
     }
     if (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE && isGPSTrustworthy() && STATE(AIRPLANE))
     {
+        //pick the best centrifugal acceleration between velned and turnrate
         fpVector3_t compansatedGravityBF_velned;
         vectorAdd(&compansatedGravityBF_velned, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
         float velned_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_velned)) - GRAVITY_CMSS);
@@ -726,21 +727,17 @@ static void imuCalculateEstimatedAttitude(float dT)
         fpVector3_t compansatedGravityBF_turnrate;
         vectorAdd(&compansatedGravityBF_turnrate, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
         float turnrate_magnitude = fabsf(fast_fsqrtf(vectorNormSquared(&compansatedGravityBF_turnrate)) - GRAVITY_CMSS);
-        if (velned_magnitude > turnrate_magnitude)
-        {
-            compansatedGravityBF = compansatedGravityBF_turnrate;
-        }
-        else
-        {
-            compansatedGravityBF = compansatedGravityBF_velned;
-        }
+
+        compansatedGravityBF = velned_magnitude > turnrate_magnitude? compansatedGravityBF_turnrate:compansatedGravityBF_velned;
     }
-    else if (imuConfig()->inertia_comp_method == COMPMETHOD_VELNED && isGPSTrustworthy())
+    else if (((imuConfig()->inertia_comp_method == COMPMETHOD_VELNED) || (imuConfig()->inertia_comp_method == COMPMETHOD_ADAPTIVE)) && isGPSTrustworthy())
     {
+        //velned centrifugal force compensation, quad will use this method
         vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_velned);
     }
     else if (STATE(AIRPLANE))
     {
+        //turnrate centrifugal force compensation
         vectorAdd(&compansatedGravityBF, &imuMeasuredAccelBF, &vEstcentrifugalAccelBF_turnrate);
     }
     else