diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 794ae15a13..6e480a5bfd 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2177,6 +2177,10 @@ static void tuning(){
 			g.pid_optflow_roll.kD(tuning_value);
 			g.pid_optflow_pitch.kD(tuning_value);
 			break;
+
+		case CH6_AHRS_YAW_KP:
+			ahrs._kp_yaw.set(tuning_value);
+			break;
 	}
 }
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 1b9282104a..5360f7bd60 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -100,9 +100,9 @@ public:
 	k_param_sonar_type,
 	k_param_super_simple,
 	k_param_rtl_land_enabled,
-	k_param_rtl_approach_alt,
 	k_param_axis_enabled,
-	k_param_copter_leds_mode, //159
+	k_param_copter_leds_mode, //158
+    k_param_ahrs,  // AHRS group
 
 	//
 	// 160: Navigation parameters
@@ -110,6 +110,7 @@ public:
 	k_param_RTL_altitude = 160,
 	k_param_crosstrack_gain,
 	k_param_auto_land_timeout,
+	k_param_rtl_approach_alt,
 
 
 	//
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 9f4f5dd770..02fae1e2c0 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -136,12 +136,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GOBJECT(compass,        "COMPASS_", Compass),
 	GOBJECT(gcs0,			"SR0_",     GCS_MAVLINK),
 	GOBJECT(gcs3,			"SR3_",     GCS_MAVLINK),
-	GOBJECT(imu,			"IMU_",     IMU)
+	GOBJECT(imu,			"IMU_",     IMU),
+	GOBJECT(ahrs,			"AHRS_",    AP_AHRS),
 
 	#if FRAME_CONFIG ==	HELI_FRAME
-	,GOBJECT(motors,	"H_",		AP_MotorsHeli)
+	GOBJECT(motors,	"H_",		AP_MotorsHeli),
 	#else
-	,GOBJECT(motors,	"MOT_",		AP_Motors)
+	GOBJECT(motors,	"MOT_",		AP_Motors),
 	#endif
 };
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 97847bb4f6..3f4487609a 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -185,6 +185,8 @@
 #define CH6_LOITER_RATE_KI 28
 #define CH6_LOITER_RATE_KD 23
 
+#define CH6_AHRS_YAW_KP 30
+
 
 // nav byte mask
 // -------------
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 5519f0cd22..6125550fe0 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -84,6 +84,7 @@ public:
         k_param_airspeed_offset,
 		k_param_sonar_enabled,
 		k_param_airspeed_enabled,
+        k_param_ahrs,  // AHRS group
 
         //
         // 150: Navigation parameters
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 3619095c05..0603b47f6c 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -125,7 +125,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GOBJECT(compass,                "COMPASS_",	Compass),
 	GOBJECT(gcs0,					"SR0_",     GCS_MAVLINK),
 	GOBJECT(gcs3,					"SR3_",     GCS_MAVLINK),
-	GOBJECT(imu,					"IMU_",     IMU)
+	GOBJECT(imu,					"IMU_",     IMU),
+	GOBJECT(ahrs,					"AHRS_",    AP_AHRS)
 };
 
 
diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt
index 4bb1685ce8..a4d60e15ae 100644
--- a/Tools/GIT_Test/GIT_Success.txt
+++ b/Tools/GIT_Test/GIT_Success.txt
@@ -5,3 +5,6 @@ list below
 
 ----------------
 Test Developer ...
+
+Chris Anderson
+Phil Cole put this here after rebasing an old branch to master.
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 883c158a53..10e2b90381 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -82,6 +82,8 @@ public:
 	// attitude
 	virtual Matrix3f get_dcm_matrix(void) = 0;
 
+	static const struct AP_Param::GroupInfo var_info[];
+
 protected:
 	// pointer to compass object, if enabled
 	Compass 	* _compass;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index b6fa2e1f45..2cf29b3249 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -23,6 +23,12 @@
 // from the GPS and wait for the ground speed to get above GPS_SPEED_MIN
 #define GPS_SPEED_RESET 100
 
+// table of user settable parameters
+const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
+    AP_GROUPINFO("YAW_P", 0, AP_AHRS_DCM, _kp_yaw),
+    AP_GROUPEND
+};
+
 // run a full DCM update round
 void
 AP_AHRS_DCM::update(void)
@@ -453,7 +459,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
 	// allow the yaw reference source to affect all 3 components
 	// of _omega_yaw_P as we need to be able to correctly hold a
 	// heading when roll and pitch are non-zero
-	_omega_yaw_P = error * _kp_yaw;
+	_omega_yaw_P = error * _kp_yaw.get();
 
 	// add yaw correction to integrator correction vector, but
 	// only for the z gyro. We rely on the accelerometers for x
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 5952380c7e..600592d8e5 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -17,7 +17,7 @@ public:
 	AP_AHRS_DCM(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
 	{
 		_kp_roll_pitch = 0.13;
-		_kp_yaw        = 0.4;
+		_kp_yaw.set(0.4);
 		_dcm_matrix(Vector3f(1, 0, 0),
 			    Vector3f(0, 1, 0),
 			    Vector3f(0, 0, 1));
@@ -42,10 +42,12 @@ public:
 	float		get_error_rp(void);
 	float		get_error_yaw(void);
 
+	// settable parameters
+	AP_Float	_kp_yaw;
+
 private:
 	float		_kp_roll_pitch;
 	float		_ki_roll_pitch;
-	float		_kp_yaw;
 	float		_ki_yaw;
 	bool		_have_initial_yaw;
 
diff --git a/libraries/AP_AHRS/AP_AHRS_HIL.h b/libraries/AP_AHRS/AP_AHRS_HIL.h
index ea46cbe92a..20d903ffa6 100644
--- a/libraries/AP_AHRS/AP_AHRS_HIL.h
+++ b/libraries/AP_AHRS/AP_AHRS_HIL.h
@@ -32,6 +32,9 @@ public:
 	float get_error_rp(void) { return 0; }
 	float get_error_yaw(void) { return 0; }
 
+	// settable parameters
+	AP_Float	_kp_yaw;
+
 private:
 	Vector3f 	_omega;
 };