diff --git a/ArducopterNG/ArduUser.h b/ArducopterNG/ArduUser.h
index 4461033c7c..cb284138ec 100644
--- a/ArducopterNG/ArduUser.h
+++ b/ArducopterNG/ArduUser.h
@@ -77,14 +77,14 @@ TODO:
 // Following variables stored in EEPROM
 float KP_QUAD_ROLL;
 float KI_QUAD_ROLL;
-float KD_QUAD_ROLL;
+float STABLE_MODE_KP_RATE_ROLL;
 float KP_QUAD_PITCH;
 float KI_QUAD_PITCH;
-float KD_QUAD_PITCH;
+float STABLE_MODE_KP_RATE_PITCH;
 float KP_QUAD_YAW;
 float KI_QUAD_YAW;
-float KD_QUAD_YAW;
-float STABLE_MODE_KP_RATE;
+float STABLE_MODE_KP_RATE_YAW;
+float STABLE_MODE_KP_RATE;       //NOT USED NOW
 float KP_GPS_ROLL;
 float KI_GPS_ROLL;
 float KD_GPS_ROLL;
@@ -133,23 +133,23 @@ float ch_aux2_offset = 0;
 // This function call contains the default values that are set to the ArduCopter
 // when a "Default EEPROM Value" command is sent through serial interface
 void defaultUserConfig() {
-  KP_QUAD_ROLL = 1.8;
-  KI_QUAD_ROLL = 0.30; //0.4
-  KD_QUAD_ROLL = 0.4; //0.48
-  KP_QUAD_PITCH = 1.8;
-  KI_QUAD_PITCH = 0.30; //0.4
-  KD_QUAD_PITCH = 0.4; //0.48
-  KP_QUAD_YAW = 3.6;
+  KP_QUAD_ROLL = 4.0;
+  KI_QUAD_ROLL = 0.15;
+  STABLE_MODE_KP_RATE_ROLL = 1.2;
+  KP_QUAD_PITCH = 4.0;
+  KI_QUAD_PITCH = 0.15;
+  STABLE_MODE_KP_RATE_PITCH = 1.2;
+  KP_QUAD_YAW = 3.0;
   KI_QUAD_YAW = 0.15;
-  KD_QUAD_YAW = 1.2;
-  STABLE_MODE_KP_RATE = 0.2;  // New param for stable mode
-  KP_GPS_ROLL = 0.02;
-  KI_GPS_ROLL = 0.008;
-  KD_GPS_ROLL = 0.006;
-  KP_GPS_PITCH = 0.02;
-  KI_GPS_PITCH = 0.008;
-  KD_GPS_PITCH = 0.006;
-  GPS_MAX_ANGLE = 18;
+  STABLE_MODE_KP_RATE_YAW = 2.4;
+  STABLE_MODE_KP_RATE = 0.2;     // NOT USED NOW
+  KP_GPS_ROLL = 0.015;
+  KI_GPS_ROLL = 0.005;
+  KD_GPS_ROLL = 0.01;
+  KP_GPS_PITCH = 0.015;
+  KI_GPS_PITCH = 0.005;
+  KD_GPS_PITCH = 0.01;
+  GPS_MAX_ANGLE = 22;
   KP_ALTITUDE = 0.8;
   KI_ALTITUDE = 0.2;
   KD_ALTITUDE = 0.2;
@@ -165,16 +165,16 @@ void defaultUserConfig() {
   Ki_YAW = 0.00005;
   GEOG_CORRECTION_FACTOR = 0.87;
   MAGNETOMETER = 0;
-  Kp_RateRoll = 0.6;
-  Ki_RateRoll = 0.1;
-  Kd_RateRoll = -0.8;
-  Kp_RatePitch = 0.6;
-  Ki_RatePitch = 0.1;
-  Kd_RatePitch = -0.8;  
-  Kp_RateYaw = 1.6;
-  Ki_RateYaw = 0.3;
-  Kd_RateYaw = 0;
-  xmitFactor = 0.8;
+  Kp_RateRoll = 1.95;
+  Ki_RateRoll = 0.0;
+  Kd_RateRoll = 0.0;
+  Kp_RatePitch = 1.95;
+  Ki_RatePitch = 0.0;
+  Kd_RatePitch = 0.0;  
+  Kp_RateYaw = 3.2;
+  Ki_RateYaw = 0.0;
+  Kd_RateYaw = 0.0;
+  xmitFactor = 0.32;
   roll_mid = 1500;
   pitch_mid = 1500;
   yaw_mid = 1500;
@@ -195,14 +195,14 @@ void defaultUserConfig() {
 // EEPROM storage addresses
 #define KP_QUAD_ROLL_ADR 0
 #define KI_QUAD_ROLL_ADR 8
-#define KD_QUAD_ROLL_ADR 4
+#define STABLE_MODE_KP_RATE_ROLL_ADR 4
 #define KP_QUAD_PITCH_ADR 12
 #define KI_QUAD_PITCH_ADR 20
-#define KD_QUAD_PITCH_ADR 16
+#define STABLE_MODE_KP_RATE_PITCH_ADR 16
 #define KP_QUAD_YAW_ADR 24
 #define KI_QUAD_YAW_ADR 32
-#define KD_QUAD_YAW_ADR 28
-#define STABLE_MODE_KP_RATE_ADR 36
+#define STABLE_MODE_KP_RATE_YAW_ADR 28
+#define STABLE_MODE_KP_RATE_ADR 36      // NOT USED NOW
 #define KP_GPS_ROLL_ADR 40
 #define KI_GPS_ROLL_ADR 48
 #define KD_GPS_ROLL_ADR 44
@@ -250,5 +250,4 @@ void defaultUserConfig() {
 #define ch_yaw_offset_ADR 216
 #define ch_aux_offset_ADR 220
 #define ch_aux2_offset_ADR 224
-
-
+
diff --git a/ArducopterNG/EEPROM.pde b/ArducopterNG/EEPROM.pde
index ad67d566a7..9f9740a3b0 100644
--- a/ArducopterNG/EEPROM.pde
+++ b/ArducopterNG/EEPROM.pde
@@ -59,14 +59,14 @@ void writeEEPROM(float value, int address) {
 void readUserConfig() {
   KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
   KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
-  KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
+  STABLE_MODE_KP_RATE_ROLL = readEEPROM(STABLE_MODE_KP_RATE_ROLL_ADR);
   KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
   KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
-  KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
+  STABLE_MODE_KP_RATE_PITCH = readEEPROM(STABLE_MODE_KP_RATE_PITCH_ADR);
   KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
   KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
-  KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
-  STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
+  STABLE_MODE_KP_RATE_YAW = readEEPROM(STABLE_MODE_KP_RATE_YAW_ADR);
+  STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);          // NOT USED NOW
   KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
   KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
   KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
@@ -118,15 +118,15 @@ void readUserConfig() {
 
 void writeUserConfig() {
   writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
-  writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
   writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
+  writeEEPROM(STABLE_MODE_KP_RATE_ROLL, STABLE_MODE_KP_RATE_ROLL_ADR);
   writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
-  writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
   writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
+  writeEEPROM(STABLE_MODE_KP_RATE_PITCH, STABLE_MODE_KP_RATE_PITCH_ADR);
   writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
-  writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
   writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
-  writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
+  writeEEPROM(STABLE_MODE_KP_RATE_YAW, STABLE_MODE_KP_RATE_YAW_ADR);
+  writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);  // NOT USED NOW
   writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
   writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
   writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
@@ -174,4 +174,4 @@ void writeUserConfig() {
   writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
   writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
   writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
-}
+}
diff --git a/ArducopterNG/GCS.pde b/ArducopterNG/GCS.pde
index 7b457718b4..c929c36049 100644
--- a/ArducopterNG/GCS.pde
+++ b/ArducopterNG/GCS.pde
@@ -66,14 +66,14 @@ void readSerialCommand() {
     case 'A': // Stable PID
       KP_QUAD_ROLL = readFloatSerial();
       KI_QUAD_ROLL = readFloatSerial();
-      KD_QUAD_ROLL = readFloatSerial();
+      STABLE_MODE_KP_RATE_ROLL = readFloatSerial();
       KP_QUAD_PITCH = readFloatSerial();
       KI_QUAD_PITCH = readFloatSerial();
-      KD_QUAD_PITCH = readFloatSerial();
+      STABLE_MODE_KP_RATE_PITCH = readFloatSerial();
       KP_QUAD_YAW = readFloatSerial();
       KI_QUAD_YAW = readFloatSerial();
-      KD_QUAD_YAW = readFloatSerial();
-      STABLE_MODE_KP_RATE = readFloatSerial();
+      STABLE_MODE_KP_RATE_YAW = readFloatSerial();
+      STABLE_MODE_KP_RATE = readFloatSerial();   // NOT USED NOW
       MAGNETOMETER = readFloatSerial();
       break;
     case 'C': // Receive GPS PID
@@ -195,21 +195,21 @@ void sendSerialTelemetry() {
     comma();
     SerPr(KI_QUAD_ROLL, 3);
     comma();
-    SerPr(KD_QUAD_ROLL, 3);
+    SerPr(STABLE_MODE_KP_RATE_ROLL, 3);
     comma();
     SerPr(KP_QUAD_PITCH, 3);
     comma();
     SerPr(KI_QUAD_PITCH, 3);
     comma();
-    SerPr(KD_QUAD_PITCH, 3);
+    SerPr(STABLE_MODE_KP_RATE_PITCH, 3);
     comma();
     SerPr(KP_QUAD_YAW, 3);
     comma();
     SerPr(KI_QUAD_YAW, 3);
     comma();
-    SerPr(KD_QUAD_YAW, 3);
+    SerPr(STABLE_MODE_KP_RATE_YAW, 3);
     comma();
-    SerPr(STABLE_MODE_KP_RATE, 3);
+    SerPr(STABLE_MODE_KP_RATE, 3);    // NOT USED NOW
     comma();
     SerPrln(MAGNETOMETER, 3);
     queryType = 'X';
@@ -437,4 +437,4 @@ float readFloatSerial() {
   }  
   while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
   return atof(data);
-}
+}