diff --git a/ArduCopterMega/Attitude.pde b/ArduCopterMega/Attitude.pde
index 71e54017d2..ba40f69e89 100644
--- a/ArduCopterMega/Attitude.pde
+++ b/ArduCopterMega/Attitude.pde
@@ -137,7 +137,7 @@ void calc_nav_throttle()
 
 	if(altitude_sensor == BARO){
 		nav_throttle = g.pid_baro_throttle.get_pid(error, dTnav2, scaler);	// .25
-		nav_throttle = g.throttle_cruise + constrain(nav_throttle, -70, 140);
+		nav_throttle = g.throttle_cruise + constrain(nav_throttle, -35, 80);
 	}else{
 		nav_throttle = g.pid_sonar_throttle.get_pid(error, dTnav2, scaler);	// .5
 		nav_throttle = g.throttle_cruise + constrain(nav_throttle, -70, 150);
diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index cce5251d6a..a3ab05800d 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -424,27 +424,27 @@
 // Throttle control gains
 //
 #ifndef THROTTLE_BARO_P
-# define THROTTLE_BARO_P		0.25
+# define THROTTLE_BARO_P		0.2			// trying a lower val
 #endif
 #ifndef THROTTLE_BARO_I
-# define THROTTLE_BARO_I		0.01		//with 4m error, 12.5s windup
+# define THROTTLE_BARO_I		0.02		//with 4m error, 12.5s windup
 #endif
 #ifndef THROTTLE_BARO_D
-# define THROTTLE_BARO_D		0.03
+# define THROTTLE_BARO_D		0.06		//
 #endif
 #ifndef THROTTLE_BARO_IMAX
-# define THROTTLE_BARO_IMAX		50
+# define THROTTLE_BARO_IMAX		20
 #endif
 
 
 #ifndef THROTTLE_SONAR_P
-# define THROTTLE_SONAR_P		0.8		// upped from .5
+# define THROTTLE_SONAR_P		0.5			//
 #endif
 #ifndef THROTTLE_SONAR_I
-# define THROTTLE_SONAR_I		0.01
+# define THROTTLE_SONAR_I		0.1
 #endif
 #ifndef THROTTLE_SONAR_D
-# define THROTTLE_SONAR_D		0.05
+# define THROTTLE_SONAR_D		0.06
 #endif
 #ifndef THROTTLE_SONAR_IMAX
 # define THROTTLE_SONAR_IMAX	60
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 6df3435c40..a1bbf42900 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.13 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.14 Beta", main_menu_commands);
 
 void init_ardupilot()
 {