diff --git a/ArduCopterMega/flight_control.pde b/ArduCopterMega/flight_control.pde
index 24c04648ee..037fdc7367 100644
--- a/ArduCopterMega/flight_control.pde
+++ b/ArduCopterMega/flight_control.pde
@@ -25,10 +25,14 @@ void calc_nav_throttle()
 	long error = constrain(altitude_error, -300, 300);
 	
 	if(altitude_sensor == BARO) {
+		if(error > 0){
+			pid_baro_throttle.kP(.25);
+		}else{
+			pid_baro_throttle.kP(.05);
+		}
 		nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
-	
 		// limit output of throttle control
-		nav_throttle = throttle_cruise + constrain(nav_throttle, -50, 100);
+		nav_throttle = throttle_cruise + constrain(nav_throttle, -15, 70);
 
 	} else {
 		// SONAR