diff --git a/steer-pid.py b/steer-pid.py
index e4ca29f..752e1a0 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -100,8 +100,8 @@ for chunk in stream.iter_content(chunk_size=1024):
                     v = 0.25
 
                     p = -x
-                    d = (x - xp) * 1000 / -dtms
-                    i = mri * ip + x * dtms / -10000
+                    d = -(radius/100) * (x - xp) * 1000 / dtms
+                    i = -mri * ip + x * dtms / 10000
 
                     k = wp * p + wi * i + wd * d