diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index e539d9579..cb77902d0 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -835,8 +835,14 @@ DCS::DCS(double c, const ReweightScheme reweight)
 }
 
 double DCS::weight(double error) const {
-  double scale = 2.0*c_/(c_ + error*error);
-  return std::min(scale, 1.0);
+  const double e2 = error*error;
+  if (e2 > c_)
+  {
+    const double w = 2.0*c_/(c_ + e2);
+    return w*w;
+  }
+
+  return 1.0;
 }
 
 void DCS::print(const std::string &s="") const {
diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index 01f653d73..d6857c6ff 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -349,7 +349,7 @@ TEST(NoiseModel, robustFunctionDCS)
   const double weight1 = dcs->weight(error1),
                weight2 = dcs->weight(error2);
   DOUBLES_EQUAL(1.0       , weight1, 1e-8);
-  DOUBLES_EQUAL(0.01980198, weight2, 1e-8);
+  DOUBLES_EQUAL(0.00039211, weight2, 1e-8);
 }
 
 /* ************************************************************************* */
@@ -413,7 +413,7 @@ TEST(NoiseModel, robustNoiseDCS)
 
   robust->WhitenSystem(A, b);
 
-  const double sqrt_weight = sqrt(2.0*k/(k + error2*error2));
+  const double sqrt_weight = 2.0*k/(k + error2*error2);
 
   DOUBLES_EQUAL(error1, b(0), 1e-8);
   DOUBLES_EQUAL(sqrt_weight*error2, b(1), 1e-8);