diff --git a/UAV-ControlSystem/src/Flight/pid.c b/UAV-ControlSystem/src/Flight/pid.c
index d263d18..335013a 100644
--- a/UAV-ControlSystem/src/Flight/pid.c
+++ b/UAV-ControlSystem/src/Flight/pid.c
@@ -265,7 +265,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
 
 
 	/* -----calculate P component ---- */
-	float PTerm = PTERM_SCALE * rateError * pidProfile->P[axis] * pidProfile-> PIDweight[axis] / 100;
+	float PTerm = PTERM_SCALE * rateError * (float)pidProfile->P[axis] * (float)pidProfile-> PIDweight[axis] / 100.0;
 
 	// Constrain YAW by yaw_p_limit value
 	if (axis == YAW)
@@ -328,7 +328,7 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
 			delta = pt1FilterApply4(&pidProfileBuff->deltaFilter[axis], delta, pidProfile->dterm_lpf, pidProfileBuff->dT);
 		}
 
-		DTerm = DTERM_SCALE * delta * pidProfile->D[axis] * pidProfile->PIDweight[axis] / 100;
+		DTerm = DTERM_SCALE * delta * (float)pidProfile->D[axis] * (float)pidProfile->PIDweight[axis] / 100.0;
 		DTerm = constrainf(DTerm, -PID_MAX_D, PID_MAX_D);
 	}
 
@@ -520,6 +520,8 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
 		PidProfile[ID].pidEnabled = true;
 		PidProfile[ID].dterm_lpf = 90;
 		PidProfile[ID].pid_out_limit = 1000;
+		pidProfile[ID].PIDweight[ROLL] = 50;
+		pidProfile[ID].PIDweight[PITCH] = 50;
 
 		break;
 	case PID_ID_COMPASS: