From bd52458e740aa66303ff62c3176b29a696b044f0 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Sat, 10 Sep 2011 18:37:28 -0700
Subject: [PATCH] Added Nav Rate tuning

---
 ArduCopter/ArduCopter.pde | 6 ++++++
 ArduCopter/defines.h      | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 423c1cfd7f..37331f0ce3 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1454,6 +1454,12 @@ static void tuning(){
 			g.rc_6.set_range(0,1000);
 			g.waypoint_speed_max = g.rc_6.control_in;
 			break;
+
+		case CH6_NAV_P:
+			g.rc_6.set_range(0,6000);
+			g.pi_nav_lat.kP(tuning_value);
+			g.pi_nav_lon.kP(tuning_value);
+			break;
 	}
 }
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 6b687b81b2..848d2e79c3 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -156,6 +156,8 @@
 #define CH6_RELAY 9
 #define CH6_TRAVERSE_SPEED 10
 
+#define CH6_NAV_P 11
+
 // nav byte mask
 // -------------
 #define NAV_LOCATION 1