diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 463b9b1407..0e9316927c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -666,6 +666,8 @@ static void medium_loop()
 					if (g.log_bitmask & MASK_LOG_NTUN)
 						Log_Write_Nav_Tuning();
 				}
+			}else{
+				g_gps->new_data = false;
 			}
 			break;
 
@@ -921,12 +923,13 @@ static void update_GPS(void)
 	//current_loc.lat = -1224318000;		// Lat * 10 * *7
 	//current_loc.alt = 100;				// alt * 10 * *7
 	//return;
-	if(gps_watchdog < 10){
+	if(gps_watchdog < 12){
 		gps_watchdog++;
 	}else{
 		// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
-		nav_roll  >>= 1;
-		nav_pitch >>= 1;
+		// commented temporarily
+		//nav_roll  >>= 1;
+		//nav_pitch >>= 1;
 	}
 
     if (g_gps->new_data && g_gps->fix) {
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 59e5aa7815..3039ca197a 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -467,7 +467,7 @@
 // Navigation control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			.4		//
+# define LOITER_P			1.0		//
 #endif
 #ifndef LOITER_I
 # define LOITER_I			0.01	//
@@ -480,14 +480,14 @@
 # define NAV_P				2.0			// for 4.5 ms error = 13.5 pitch
 #endif
 #ifndef NAV_I
-# define NAV_I				0.15		// this
+# define NAV_I				0.10		// this
 #endif
 #ifndef NAV_IMAX
-# define NAV_IMAX			20			// degrees
+# define NAV_IMAX			16			// degrees
 #endif
 
 #ifndef WAYPOINT_SPEED_MAX
-# define WAYPOINT_SPEED_MAX			400			// for 6m/s error = 13mph
+# define WAYPOINT_SPEED_MAX			450			// for 6m/s error = 13mph
 #endif
 
 
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 766a23a7d5..5ba03676fe 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -55,14 +55,9 @@ static void calc_location_error(struct Location *next_loc)
 	lat_error	= next_loc->lat - current_loc.lat;							// 0 - 500 = -500 pitch NORTH
 }
 
-
-// 	nav_roll	= g.pid_of_roll.get_pid(-optflow.x_cm * 10, dTnav, 1.0);
-
 #define NAV_ERR_MAX 400
 static void calc_loiter(int x_error, int y_error)
 {
-	// moved to globals for logging
-
 	x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
 	y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
 
@@ -87,16 +82,25 @@ static void calc_loiter(int x_error, int y_error)
 	#endif
 
 	y_rate_error 	= y_target_speed - y_actual_speed; // 413
-	y_rate_error 	= constrain(y_rate_error, -600, 600);	// added a rate error limit to keep pitching down to a minimum
+	y_rate_error 	= constrain(y_rate_error, -250, 250);	// added a rate error limit to keep pitching down to a minimum
 	nav_lat		 	= constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
 
-	//Serial.printf("yr: %d, nav_lat: %d, int:%d \n",y_rate_error, nav_lat, g.pi_nav_lat.get_integrator());
-
 	x_rate_error 	= x_target_speed - x_actual_speed;
-	x_rate_error 	= constrain(x_rate_error, -600, 600);
+	x_rate_error 	= constrain(x_rate_error, -250, 250);
 	nav_lon		 	= constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
 }
 
+// nav_roll, nav_pitch
+static void calc_loiter_pitch_roll()
+{
+	// rotate the vector
+	nav_roll 	=  (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
+	nav_pitch 	=  (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
+
+	// flip pitch because forward is negative
+	nav_pitch = -nav_pitch;
+}
+
 static void calc_nav_rate(int max_speed)
 {
 	/*
@@ -153,17 +157,6 @@ static void calc_nav_pitch_roll()
 }
 
 
-// nav_roll, nav_pitch
-static void calc_loiter_pitch_roll()
-{
-	// rotate the vector
-	nav_roll 	=  (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
-	nav_pitch 	=  (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
-
-	// flip pitch because forward is negative
-	nav_pitch = -nav_pitch;
-}
-
 static long get_altitude_error()
 {
 	return next_WP.alt - current_loc.alt;
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 0b092aa8bb..309ea91274 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -32,7 +32,7 @@ static void init_rc_in()
 	g.rc_1.set_dead_zone(60);
 	g.rc_2.set_dead_zone(60);
 	g.rc_3.set_dead_zone(60);
-	g.rc_4.set_dead_zone(300);
+	g.rc_4.set_dead_zone(200);
 
 	//set auxiliary ranges
 	g.rc_5.set_range(0,1000);