From 51ff89ed9978cd81249fe0859e0ec88771a851a9 Mon Sep 17 00:00:00 2001
From: ctzsnooze <chris.thompson@sydney.edu.au>
Date: Sun, 11 Nov 2018 21:44:18 +1100
Subject: [PATCH] Set TPA default to D only, increase D about 10%

---
 src/main/fc/controlrate_profile.c | 6 +++---
 src/main/flight/pid.c             | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/fc/controlrate_profile.c b/src/main/fc/controlrate_profile.c
index 85deeba34..d94cfc2c5 100644
--- a/src/main/fc/controlrate_profile.c
+++ b/src/main/fc/controlrate_profile.c
@@ -45,8 +45,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
         RESET_CONFIG(controlRateConfig_t, &controlRateConfig[i],
             .thrMid8 = 50,
             .thrExpo8 = 0,
-            .dynThrPID = 10,
-            .tpa_breakpoint = 1650,
+            .dynThrPID = 50,
+            .tpa_breakpoint = 1500,
             .rates_type = RATES_TYPE_BETAFLIGHT,
             .rcRates[FD_ROLL] = 100,
             .rcRates[FD_PITCH] = 100,
@@ -62,7 +62,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
             .rate_limit[FD_ROLL] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_PITCH] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
             .rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
-            .tpaMode = TPA_MODE_PD,
+            .tpaMode = TPA_MODE_D,
         );
     }
 }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b8d202acd..9f0e99580 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -118,8 +118,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
 {
     RESET_CONFIG(pidProfile_t, pidProfile,
         .pid = {
-            [PID_ROLL] =  { 46, 65, 25, 60 },
-            [PID_PITCH] = { 50, 75, 27, 60 },
+            [PID_ROLL] =  { 46, 65, 30, 60 },
+            [PID_PITCH] = { 50, 75, 32, 60 },
             [PID_YAW] =   { 45, 100, 0, 100 },
             [PID_LEVEL] = { 50, 50, 75, 0 },
             [PID_MAG] =   { 40, 0, 0, 0 },
-- 
2.11.4.GIT