diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 27c3793441..c3a4f72b51 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -367,7 +367,6 @@ static const float radius_of_earth 	= 6378100;		// meters
 static const float gravity 			= 9.81;			// meters/ sec^2
 static int32_t	target_bearing;						// deg * 100 : 0 to 360 location of the plane to the target
 static int32_t	nav_bearing;						// deg * 100 : 0 to 360 location of the plane to the target
-
 static int32_t 	home_bearing;						// used to track difference in angle
 
 static byte	wp_control;								// used to control - navgation or loiter
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 27d4eb1716..6f15346fd4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -508,7 +508,7 @@
 
 
 #ifndef STABILIZE_D
-# define STABILIZE_D 		.25
+# define STABILIZE_D 		.2
 #endif
 
 // Jasons default values that are good for smaller payload motors.
@@ -606,17 +606,17 @@
 // Navigation control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			.2		// .3 was too aggressive
+# define LOITER_P			.25		//
 #endif
 #ifndef LOITER_I
-# define LOITER_I			0.05	// Wind control
+# define LOITER_I			0.1	// Wind control
 #endif
 #ifndef LOITER_IMAX
 # define LOITER_IMAX		30		// degrees°
 #endif
 
 #ifndef NAV_P
-# define NAV_P				1.5			// 3 was causing rapid oscillations in Loiter
+# define NAV_P				2.2			// 3 was causing rapid oscillations in Loiter
 #endif
 #ifndef NAV_I
 # define NAV_I				0.15		// used in traverals
@@ -649,7 +649,7 @@
 
 // RATE control
 #ifndef THROTTLE_P
-# define THROTTLE_P		0.4			//
+# define THROTTLE_P		0.5			//
 #endif
 #ifndef THROTTLE_I
 # define THROTTLE_I		0.0			//
@@ -663,7 +663,7 @@
 // Crosstrack compensation
 //
 #ifndef CROSSTRACK_GAIN
-# define CROSSTRACK_GAIN		40
+# define CROSSTRACK_GAIN		1
 #endif