From 9a0539f39e4f6a8901883c7bf47ff3bdecd3d1b6 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 13 Jan 2012 09:36:36 -0800
Subject: [PATCH] tuned down Alt hold D gain

---
 ArduCopter/Attitude.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 38ae8970b1..c52e782114 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -187,7 +187,7 @@ get_nav_throttle(int32_t z_error)
 	output =  constrain((int)g.pi_throttle.get_p(rate_error), -160, 180);
 
 	// a positive climb rate means we're going up
-	rate_d =  ((rate_d + climb_rate)>>1) * 1; // replace with gain
+	rate_d =  ((rate_d + climb_rate)>>1) * .1; // replace with gain
 
 	// slight adjustment to alt hold output
 	output -= constrain(rate_d, -25, 25);