diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 6d79563a19..319a47c7e9 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -651,7 +651,7 @@
 // Loiter control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			.2		// was .25 in previous
+# define LOITER_P			.8
 #endif
 #ifndef LOITER_I
 # define LOITER_I			0.0
@@ -664,26 +664,26 @@
 // Loiter Navigation control gains
 //
 #ifndef LOITER_RATE_P
-# define LOITER_RATE_P				3.0			//
+# define LOITER_RATE_P		3.5			//
 #endif
 #ifndef LOITER_RATE_I
-# define LOITER_RATE_I				0.1			// Wind control
+# define LOITER_RATE_I		0.2			// Wind control
 #endif
 #ifndef LOITER_RATE_D
-# define LOITER_RATE_D				0.00		//
+# define LOITER_RATE_D		0.00		//
 #endif
 #ifndef LOITER_RATE_IMAX
-# define LOITER_RATE_IMAX			30			// degrees
+# define LOITER_RATE_IMAX	30			// degrees
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
 // WP Navigation control gains
 //
 #ifndef NAV_P
-# define NAV_P				3.0			//
+# define NAV_P				3.5			//
 #endif
 #ifndef NAV_I
-# define NAV_I				0.1			// Wind control
+# define NAV_I				0.2			// Wind control
 #endif
 #ifndef NAV_D
 # define NAV_D				0.00		//