diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 97c163d1dc5bc6e9d82b038bbc2104adb9a2e4b7..d4bb46f4742ec85e87505a02488f9395aecebffb 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -17,7 +17,7 @@ public:
 	AP_AHRS_DCM(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
 	{
 		_kp_roll_pitch = 0.13;
-		_kp_yaw.set(0.4);
+		_kp_yaw.set(0.2);
 		_dcm_matrix(Vector3f(1, 0, 0),
 			    Vector3f(0, 1, 0),
 			    Vector3f(0, 0, 1));