diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0ace4409a4..cac6eeae78 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -824,8 +824,8 @@ void loop()
 	uint32_t timer 			= micros();
 	// We want this to execute fast
 	// ----------------------------
-	if ((timer - fast_loopTimer) >= 5000) {
-		Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
+	if ((timer - fast_loopTimer) >= 4000) {
+		//Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
 
 		//PORTK |= B00010000;
 		G_Dt 				= (float)(timer - fast_loopTimer) / 1000000.f;		// used by PI Loops
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 502e868233..434a090335 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -144,6 +144,7 @@
 // Rate
 #define CH6_RATE_KP 4
 #define CH6_RATE_KI 5
+#define CH6_RATE_KD 21
 #define	CH6_YAW_RATE_KP 6
 // Altitude rate controller
 #define CH6_THROTTLE_KP 7