diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 83f268d87f..b309f5d6fa 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -628,7 +628,7 @@
 # define LOITER_IMAX		30		// degrees°
 #endif
 #ifndef LOITER_D
-# define LOITER_D			3		// rate control
+# define LOITER_D			2.2		// rate control
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 52ec1580db..02eabe763d 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -143,13 +143,13 @@ static void calc_location_error(struct Location *next_loc)
 */
 
 #define NAV_ERR_MAX 800
-static void calc_loiter(int x_error, int y_error)
+static void calc_loiter1(int x_error, int y_error)
 {
 	int16_t lon_PI 	= g.pi_loiter_lon.get_pi(x_error, dTnav);
-	int16_t lon_D 	= g.loiter_d * x_actual_speed ; // this controls the small bumps
+	int16_t lon_D 	= 3 * x_actual_speed ; // this controls the small bumps
 
 	int16_t lat_PI 	= g.pi_loiter_lat.get_pi(y_error, dTnav);
-	int16_t lat_D 	= g.loiter_d * y_actual_speed ;
+	int16_t lat_D 	= 3 * y_actual_speed ;
 
 	//limit of terms
 	lon_D = constrain(lon_D,-500,500);
@@ -160,7 +160,7 @@ static void calc_loiter(int x_error, int y_error)
 }
 
 
-static void calc_loiter1(int x_error, int y_error)
+static void calc_loiter(int x_error, int y_error)
 {
 	// East/West
 	x_error 				= constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);	//800