diff --git a/ArduCopterMega/Attitude.pde b/ArduCopterMega/Attitude.pde
index 3704173f2e..ed03bda315 100644
--- a/ArduCopterMega/Attitude.pde
+++ b/ArduCopterMega/Attitude.pde
@@ -241,13 +241,14 @@ output_yaw_with_hold(boolean hold)
 		yaw_error 				= wrap_180(yaw_error);
 
 		// limit the error we're feeding to the PID
-		yaw_error				= constrain(yaw_error,	 -4000, 4000);						// limit error to 60 degees
+		yaw_error				= constrain(yaw_error,	 -4000, 4000);						// limit error to 40 degees
 
 		// Apply PID and save the new angle back to RC_Channel
 		g.rc_4.servo_out 		= g.pid_yaw.get_pi(yaw_error, delta_ms_fast_loop, 1.0); 		// .4 * 4000 = 1600
 
 		// add in yaw dampener
-		g.rc_4.servo_out		-= constrain(dampener, -1600, 1600);
+		g.rc_4.servo_out		-= dampener;
+
 		yaw_debug 				= YAW_HOLD; //0
 
 	}else{
@@ -265,6 +266,7 @@ output_yaw_with_hold(boolean hold)
 			long error			= ((long)g.rc_4.control_in * 6) - (rate * 2);					// control is += 6000 * 6 = 36000
 			g.rc_4.servo_out 	= g.pid_acro_rate_yaw.get_pid(error, delta_ms_fast_loop, 1.0);	// kP .07 * 36000 = 2520
 			yaw_debug 			= YAW_RATE;  // 2
+			nav_yaw 			= dcm.yaw_sensor;	//
 		}
 	}
 
diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index 0169f05e61..8136e5572b 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -489,7 +489,7 @@ void Log_Write_Control_Tuning()
 	DataFlash.WriteByte(yaw_debug);
 	DataFlash.WriteInt((int)(dcm.yaw_sensor/100));
 	DataFlash.WriteInt((int)(nav_yaw/100));
-	DataFlash.WriteInt((int)yaw_error);
+	DataFlash.WriteInt((int)yaw_error/100);
 	DataFlash.WriteInt((int)(omega.z * 1000));
 
 	// Alt hold
diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index a3ab05800d..26fa457abd 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -354,13 +354,13 @@
 // YAW Control
 //
 #ifndef  YAW_P
-# define YAW_P					0.4			// increase for more aggressive Yaw Hold, decrease if it's bouncy
+# define YAW_P					0.6			// increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
 #ifndef  YAW_I
 # define YAW_I					0.01		// set to .0001 to try and get over user's steady state error caused by poor balance
 #endif
 #ifndef  YAW_D
-# define YAW_D					0.05		// Trying a lower value to prevent odd behavior
+# define YAW_D					0.1			// Trying a lower value to prevent odd behavior
 #endif
 #ifndef  YAW_IMAX
 # define YAW_IMAX				1			// degrees * 100
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 1a02f6dbb3..b6316ac311 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.16 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.17 Beta", main_menu_commands);
 
 void init_ardupilot()
 {