diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 56b2e0ea0c..3e13fbdf33 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -47,18 +47,18 @@
 
 
 #if INERTIAL_NAV == ENABLED
-	#define ALT_HOLD_P			0.5
-	#define ALT_HOLD_I			0.007
+	#define ALT_HOLD_P			3
+	#define ALT_HOLD_I			0
 	#define ALT_HOLD_IMAX		300
 
 	// RATE control
-	#define THROTTLE_P			3		//
-	#define THROTTLE_I			0.5		// Don't edit
+	#define THROTTLE_P			5		//
+	#define THROTTLE_I			0.4		//
 	#define THROTTLE_D			0.0		//
 
 	#define LOITER_P			0.50
 	#define LOITER_I			0.0
-	#define LOITER_RATE_P		5			//
+	#define LOITER_RATE_P		5		//
 	#define LOITER_RATE_I		0.1		// Wind control
 	#define LOITER_RATE_D		0.0		// try 2 or 3 for LOITER_RATE 1
 #endif