From 4f7246c43248578f3978a040b583130fe686dca0 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 10 Nov 2015 19:27:15 -0500
Subject: [PATCH] SITL: Helicopter parameter updates

---
 Tools/autotest/Helicopter.parm  | 7 +++++++
 libraries/SITL/SIM_Helicopter.h | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/Helicopter.parm b/Tools/autotest/Helicopter.parm
index daee5d4070..e1d0033a40 100644
--- a/Tools/autotest/Helicopter.parm
+++ b/Tools/autotest/Helicopter.parm
@@ -77,3 +77,10 @@ H_RSC_MIN       1000
 H_RSC_MAX       2000
 EK2_ENABLE      1
 AHRS_EKF_TYPE   2
+IM_ACRO_COL_EXP 0.2
+IM_STAB_COL_1   400
+IM_STAB_COL_2   600
+IM_STAB_COL_3   700
+IM_STAB_COL_4   900
+ATC_PIRO_COMP   1
+
diff --git a/libraries/SITL/SIM_Helicopter.h b/libraries/SITL/SIM_Helicopter.h
index e23e577163..cf5c8c0b10 100644
--- a/libraries/SITL/SIM_Helicopter.h
+++ b/libraries/SITL/SIM_Helicopter.h
@@ -42,7 +42,7 @@ private:
     float terminal_rotation_rate = 4*radians(360.0f);
     float hover_throttle = 0.65f;
     float terminal_velocity = 40;
-    float hover_lean = 8.0f;
+    float hover_lean = 3.0f;
     float yaw_zero = 0.1f;
     float rotor_rot_accel = radians(20);
     float roll_rate_max = radians(1400);