From 7d7de976c3c6cf8f189496b6a93d5fd9426984bc Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 17 Oct 2012 17:47:43 +0900
Subject: [PATCH] ArduCopter: reduced optical flow's I and IMAX terms

---
 ArduCopter/config.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 403fd159f9..a486c08766 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -367,7 +367,7 @@
  #define OPTFLOW_ROLL_P 2.5
 #endif
 #ifndef OPTFLOW_ROLL_I
- #define OPTFLOW_ROLL_I 3.2
+ #define OPTFLOW_ROLL_I 0.5
 #endif
 #ifndef OPTFLOW_ROLL_D
  #define OPTFLOW_ROLL_D 0.12
@@ -376,13 +376,13 @@
  #define OPTFLOW_PITCH_P 2.5
 #endif
 #ifndef OPTFLOW_PITCH_I
- #define OPTFLOW_PITCH_I 3.2
+ #define OPTFLOW_PITCH_I 0.5
 #endif
 #ifndef OPTFLOW_PITCH_D
  #define OPTFLOW_PITCH_D 0.12
 #endif
 #ifndef OPTFLOW_IMAX
- #define OPTFLOW_IMAX 4
+ #define OPTFLOW_IMAX 1
 #endif