From 27f276a0662cdb9521415f385805ba23112aa841 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 17 Mar 2012 11:03:56 -0700
Subject: [PATCH] ACM: Lowered gains from flight tests today with 3DR Quad

---
 ArduCopter/config.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 1a316a3d8..238c8e970 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -664,7 +664,7 @@
 // Loiter control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			.7
+# define LOITER_P			.35
 #endif
 #ifndef LOITER_I
 # define LOITER_I			0.0
@@ -680,7 +680,7 @@
 # define LOITER_RATE_P		2.0			//
 #endif
 #ifndef LOITER_RATE_I
-# define LOITER_RATE_I		0.30		// Wind control
+# define LOITER_RATE_I		0.2		// Wind control
 #endif
 #ifndef LOITER_RATE_D
 # define LOITER_RATE_D		0			// try 2 or 3 for LOITER_RATE 1
-- 
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