diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index 2f51a2fd64..4ebb5c34dc 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -190,7 +190,7 @@ byte get_num_logs(void)
 {
 	int page = 1;
 	byte data;
-	byte log_step;
+	byte log_step = 0;
 
 	DataFlash.StartRead(1);
 
@@ -269,7 +269,7 @@ void get_log_boundaries(byte num_logs, byte log_num, int & start_page, int & end
 {
 	int page 		= 1;
 	byte data;
-	byte log_step;
+	byte log_step = 0;
 
 	DataFlash.StartRead(1);
 	while (page == 1) {
diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index 04e114ef88..9092f6d1e2 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -350,13 +350,13 @@
 # define YAW_P					0.4			// increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
 #ifndef  YAW_I
-# define YAW_I					0.01		// increased to .1 to try and get over user's steady state error caused by poor balance
+# define YAW_I					0.00		// increased to .1 to try and get over user's steady state error caused by poor balance
 #endif
 #ifndef  YAW_D
 # define YAW_D					0.13		// Trying a lower value to prevent odd behavior
 #endif
 #ifndef  YAW_IMAX
-# define YAW_IMAX				500			//	Always 0
+# define YAW_IMAX				0			//	Always 0
 #endif
 
 //////////////////////////////////////////////////////////////////////////////