diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e477fdedef1971adcbb78f98b78a10d9181c43ca..e29e588fa42dc8e1167bdaed955fa6209cdd6d65 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2166,6 +2166,10 @@ static void tuning(){
 			g.pid_optflow_roll.kD(tuning_value);
 			g.pid_optflow_pitch.kD(tuning_value);
 			break;
+
+		case CH6_AHRS_YAW_KP:
+			ahrs._kp_yaw.set(tuning_value);
+			break;
 	}
 }
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 12a722bc9749ff217b72fd3d0245176261f0fc1a..693f42987072166a8600b090062c4c0218425780 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -184,6 +184,8 @@
 #define CH6_LOITER_RATE_KI 28
 #define CH6_LOITER_RATE_KD 23
 
+#define CH6_AHRS_YAW_KP 30
+
 
 // nav byte mask
 // -------------