From acbc041259dc0cffc67969e2b70e924ca66f09ff Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Mon, 10 Sep 2018 16:52:27 +1000
Subject: [PATCH] use the defined value in both places

---
 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 6d8d32ddd..0c026f90d 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -920,7 +920,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
             const bool isDecreasingI = ((ITerm > 0) && (itermErrorRate < 0)) || ((ITerm < 0) && (itermErrorRate > 0));
             if ((itermRelax >= ITERM_RELAX_RP_INC) && isDecreasingI) {
                 // Do Nothing, use the precalculed itermErrorRate
-            } else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < 30) {
+            } else if (itermRelaxType == ITERM_RELAX_SETPOINT && setpointHpf < ITERM_RELAX_SETPOINT_THRESHOLD) {
                 itermErrorRate *= itermRelaxFactor;
             } else if (itermRelaxType == ITERM_RELAX_GYRO ) {
                 itermErrorRate = fapplyDeadband(setpointLpf - gyroRate, setpointHpf);