From 8547dd9df2daa450c53c2d26eec45b4139acc8c8 Mon Sep 17 00:00:00 2001
From: Quick-Flash <46289813+Quick-Flash@users.noreply.github.com>
Date: Fri, 28 Feb 2020 23:55:14 -0700
Subject: [PATCH] Update filter.c

---
 src/filter/filter.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/filter/filter.c b/src/filter/filter.c
index 54aa6e6c..f4df0f8e 100644
--- a/src/filter/filter.c
+++ b/src/filter/filter.c
@@ -145,9 +145,9 @@ void filter_data(volatile axisData_t *gyroRateData, volatile axisData_t *gyroAcc
 
 // give a boost to the setpoint, used to caluclate the filter cutoff, based on the error and setpoint/gyrodata
 
-	errorMultiplierX = CONSTRAIN(errorMultiplierX * ABS(1.0f - (setPoint.x / filteredData->rateData.x)) + 1.0f, 1.0f, 10.0f);
-	errorMultiplierY = CONSTRAIN(errorMultiplierY * ABS(1.0f - (setPoint.y / filteredData->rateData.y)) + 1.0f, 1.0f, 10.0f);
-	errorMultiplierZ = CONSTRAIN(errorMultiplierZ * ABS(1.0f - (setPoint.z / filteredData->rateData.z)) + 1.0f, 1.0f, 10.0f);
+	errorMultiplierX = CONSTRAIN(errorMultiplierX * ABS(1.0f - (setPoint.x / filteredData->rateData.x)) + 1.0f, 1.0f, 50.0f);
+	errorMultiplierY = CONSTRAIN(errorMultiplierY * ABS(1.0f - (setPoint.y / filteredData->rateData.y)) + 1.0f, 1.0f, 50.0f);
+	errorMultiplierZ = CONSTRAIN(errorMultiplierZ * ABS(1.0f - (setPoint.z / filteredData->rateData.z)) + 1.0f, 1.0f, 50.0f);
 
 
 	if (setPointNew)