diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index bf0042875e..f2770e3f17 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -597,8 +597,7 @@ static int16_t 	manual_boost;
 // An additional throttle added to keep the copter at the same altitude when banking
 static int16_t 	angle_boost;
 // Push copter down for clean landing
-static uint8_t 	landing_boost;
-
+static int16_t 	landing_boost;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Navigation general
@@ -789,7 +788,7 @@ static float 			dTnav;
 static int16_t			superslow_loopCounter;
 // RTL Autoland Timer
 static uint32_t 		auto_land_timer;
-// disarms the copter while in Acro or Stabilzie mode after 30 seconds of no flight
+// disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
 static uint8_t 			auto_disarming_counter;
 
 
@@ -931,6 +930,10 @@ static void medium_loop()
 		case 0:
 			medium_loopCounter++;
 
+			//if(GPS_enabled){
+			//	update_GPS();
+			//}
+
 			#if HIL_MODE != HIL_MODE_ATTITUDE					// don't execute in HIL mode
 				if(g.compass_enabled){
 					if (compass.read()) {
@@ -1520,8 +1523,9 @@ void update_throttle_mode(void)
 					takeoff_complete 	= true;
 					land_complete 		= false;
 				}else{
-					// reset these I terms to prevent flips on takeoff
+					// reset these I terms to prevent awkward tipping on takeoff
 					reset_rate_I();
+					reset_stability_I();
 				}
 			}else{
 				// we are on the ground
@@ -1537,6 +1541,7 @@ void update_throttle_mode(void)
 				// reset out i terms and takeoff timer
 				// -----------------------------------
 				reset_rate_I();
+				reset_stability_I();
 
 				// remember our time since takeoff
 				// -------------------------------
@@ -1594,8 +1599,12 @@ void update_throttle_mode(void)
 					// how far off are we
 					altitude_error = get_altitude_error();
 
-					// get the AP throttle
-					nav_throttle = get_nav_throttle(altitude_error);
+					// get the AP throttle, if landing boost > 0 we are actually Landing
+					// This allows us to grab just the compensation.
+					if(landing_boost > 0)
+						nav_throttle = get_nav_throttle(-100);
+					else
+						nav_throttle = get_nav_throttle(altitude_error);
 
 					// clear the new data flag
 					invalid_throttle = false;
@@ -1892,7 +1901,7 @@ static void tuning(){
 	switch(g.radio_tuning){
 
 		case CH6_DAMP:
-			g.rc_6.set_range(0,900); 		// 0 to 1
+			g.rc_6.set_range(0,80); 		// 0 to 1
 			g.stablize_d.set(tuning_value);
 			break;