From 9393b21a8db69a63efaf1a268e765394493ab6a5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 3 Mar 2012 13:27:29 +1100
Subject: [PATCH] ACM: adjust yaw drift correction constants

this should give the compass a bit more authority
---
 ArduCopter/system.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index a3c43799b4..92c679a000 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -311,8 +311,8 @@ static void init_ardupilot()
 	#if HIL_MODE != HIL_MODE_ATTITUDE
 		dcm.kp_roll_pitch(0.130000);
 		dcm.ki_roll_pitch(0.00001278),	// 50 hz I term
-		dcm.kp_yaw(0.08);
-		dcm.ki_yaw(0.00004);
+		dcm.kp_yaw(0.12);
+		dcm.ki_yaw(0.00002);
 		dcm._clamp = 5;
 	#endif