diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index e7b885b642..f23999b4a3 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -359,7 +359,7 @@ float COGY							= 1; 		// Course overground Y axis
 // Performance monitoring
 // ----------------------
 long 	perf_mon_timer;
-//float 	imu_health; 							// Metric based on accel gain deweighting
+float 	imu_health; 							// Metric based on accel gain deweighting
 int 	G_Dt_max;								// Max main loop cycle time in milliseconds
 byte 	gyro_sat_count;
 byte 	adc_constraints;
diff --git a/ArduCopterMega/GCS_Standard.pde b/ArduCopterMega/GCS_Standard.pde
index 88c84cfc3d..e72cd1b020 100644
--- a/ArduCopterMega/GCS_Standard.pde
+++ b/ArduCopterMega/GCS_Standard.pde
@@ -251,6 +251,7 @@ void send_message(byte id, long param) {
 		break;
 		
 		case MSG_PID:								// PID Gains message
+		/*
 		mess_buffer[0] 	= 0x0f;
 		ck 				= 15;
 		mess_buffer[3] 	= param & 0xff;				// PID set #
@@ -272,6 +273,7 @@ void send_message(byte id, long param) {
 		tempint 		= integrator_max[param];				 	// Integrator max value
 		mess_buffer[16] = tempint & 0xff;
 		mess_buffer[17] = (tempint >> 8) & 0xff;
+		*/
 		break;
 	}
 	
diff --git a/ArduCopterMega/flight_control.pde b/ArduCopterMega/flight_control.pde
index 6539cb09fd..5b669e47cb 100644
--- a/ArduCopterMega/flight_control.pde
+++ b/ArduCopterMega/flight_control.pde
@@ -7,8 +7,7 @@ throttle control
 // -----------
 void output_manual_throttle()
 {
-	rc_3.servo_out = rc_3.control_in;
-	rc_3.servo_out = (float)rc_3.servo_out * angle_boost();
+	rc_3.servo_out = (float)rc_3.control_in * angle_boost();
 }
 
 // Autopilot
@@ -16,28 +15,25 @@ void output_manual_throttle()
 void output_auto_throttle()
 {
 	rc_3.servo_out 	= (float)nav_throttle * angle_boost();
+	// make sure we never send a 0 throttle that will cut the motors
 	rc_3.servo_out = max(rc_3.servo_out, 1);
 }
 
 void calc_nav_throttle()
-{
-	long t_out;
-	
+{	
 	if(altitude_sensor == BARO) {
-		t_out = pid_baro_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
+		nav_throttle = pid_baro_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
 	
 		// limit output of throttle control
-		t_out = throttle_cruise + constrain(t_out, -50, 100);
+		nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100);
 
 	} else {
 		// SONAR
-		t_out = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
+		nav_throttle = pid_sonar_throttle.get_pid(altitude_error, delta_ms_fast_loop, 1.0);
 	
 		// limit output of throttle control
-		t_out = throttle_cruise + constrain(t_out, -60, 100);
+		nav_throttle = throttle_cruise + constrain(nav_throttle, -60, 100);
 	}
-	
-	nav_throttle = (float)t_out * angle_boost();
 }
 
 float angle_boost()
@@ -48,8 +44,8 @@ float angle_boost()
 	temp = 1.0 + (temp / 1.5);
 	
 	// limit the boost value
-	if(temp > 1.3) 
-		temp = 1.3;
+	if(temp > 1.4) 
+		temp = 1.4;
 	return temp;
 }