diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index b9d9145087..71738a77e3 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -100,7 +100,7 @@ public:
 	k_param_auto_slew_rate,
 	k_param_sonar_type,
 	k_param_super_simple,
-	k_param_rtl_land_enabled,
+	k_param_rtl_land_enabled,	// Depricated!!
 	k_param_axis_enabled,
 	k_param_copter_leds_mode, //158
     k_param_ahrs,  // AHRS group
@@ -112,6 +112,7 @@ public:
 	k_param_crosstrack_gain,
 	k_param_auto_land_timeout,
 	k_param_rtl_approach_alt,
+	k_param_tilt_comp, //164
 
 
 	//
@@ -213,7 +214,8 @@ public:
 	AP_Float	low_voltage;
 	AP_Int8		super_simple;
 	AP_Int8		rtl_land_enabled;
-	AP_Float	rtl_approach_alt;
+	AP_Int16	rtl_approach_alt;
+	AP_Float	tilt_comp;
 	AP_Int8		axis_enabled;
 	AP_Int8		copter_leds_mode;	// Operating mode of LED lighting system
 
@@ -333,8 +335,9 @@ public:
 	optflow_enabled			(OPTFLOW),
 	low_voltage				(LOW_VOLTAGE),
 	super_simple			(SUPER_SIMPLE),
-	rtl_land_enabled		(RTL_AUTO_LAND),
-	rtl_approach_alt		(0.0),
+	rtl_land_enabled		(0),
+	rtl_approach_alt		(RTL_APPROACH_ALT),
+	tilt_comp				(.0054),
 	axis_enabled			(AXIS_LOCK_ENABLED),
 	copter_leds_mode		(9),
 
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index fb70b2a9be..d1a6987692 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -83,6 +83,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// @Description: Setting this to Enabled(1) will enable landing after RTL. Setting this to Disabled(0) will disable landing after RTL.
 	// @Values: 0:Disabled,1:Enabled
 	// @User: Standard
+	// @ DEPRICATED
 	GSCALAR(rtl_land_enabled,	"RTL_LAND"),
 
 	// @Param: APPROACH_ALT
@@ -94,6 +95,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// @User: Standard
 	GSCALAR(rtl_approach_alt,	"APPROACH_ALT"),
 
+	GSCALAR(tilt_comp,	"TILT"),
+
 	GSCALAR(waypoint_mode,	"WP_MODE"),
 	GSCALAR(command_total,	"WP_TOTAL"),
 	GSCALAR(command_index,	"WP_INDEX"),