From ff1f9ce77065170fb546b2c07f25fbec4a853366 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 16 Feb 2017 01:44:27 +0100
Subject: [PATCH] Scale down dtermSetpointWeight

---
 src/main/fc/cli.c     | 2 +-
 src/main/fc/config.c  | 4 ++--
 src/main/flight/pid.c | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index bc9b59491..e666b8e77 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -707,7 +707,7 @@ const clivalue_t valueTable[] = {
     { "anti_gravity_thresh",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
     { "anti_gravity_gain",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermAcceleratorGain, .config.minmax = {1, 30 } },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
-    { "d_setpoint_weight",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
+    { "d_setpoint_weight",          VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 254 } },
     { "yaw_accel_limit",            VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
     { "accel_limit",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
 
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 6ba140a8e..4d80076d4 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -174,8 +174,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
     pidProfile->levelAngleLimit = 55;
     pidProfile->levelSensitivity = 55;
-    pidProfile->setpointRelaxRatio = 20;
-    pidProfile->dtermSetpointWeight = 190;
+    pidProfile->setpointRelaxRatio = 25;
+    pidProfile->dtermSetpointWeight = 100;
     pidProfile->yawRateAccelLimit = 10.0f;
     pidProfile->rateAccelLimit = 0.0f;
     pidProfile->itermThrottleThreshold = 350;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4594337f3..9f44db1aa 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -160,7 +160,7 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
         Ki[axis] = ITERM_SCALE * pidProfile->I8[axis];
         Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
     }
-    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 100.0f;
+    dtermSetpointWeight = pidProfile->dtermSetpointWeight / 127.0f;
     relaxFactor = 1.0f / (pidProfile->setpointRelaxRatio / 100.0f);
     levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
     horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;