diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index d31a65669a..de499acfc8 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -199,7 +199,7 @@ static void calc_nav_rate(int max_speed)
 	x_rate_error 	= constrain(x_rate_error, -1000, 1000);
 	nav_lon			= g.pid_nav_lon.get_pid(x_rate_error, dTnav);
 	temp			= x_target_speed * x_target_speed;
-	temp			*= .0054;
+	temp			*= g.tilt_comp;
 
 	if(x_target_speed < 0)
 		temp = -temp;
@@ -212,7 +212,7 @@ static void calc_nav_rate(int max_speed)
 	y_rate_error 	= constrain(y_rate_error, -1000, 1000);	// added a rate error limit to keep pitching down to a minimum
 	nav_lat			= g.pid_nav_lat.get_pid(y_rate_error, dTnav);
 	temp			= y_target_speed * y_target_speed;
-	temp			*= .0054;
+	temp			*= g.tilt_comp;
 
 	if(y_target_speed < 0)
 		temp = -temp;
@@ -261,7 +261,7 @@ static int16_t calc_desired_speed(int16_t max_speed, bool _slow)
 	// limit the ramp up of the speed
 	// waypoint_speed_gov is reset to 0 at each new WP command
 	if(max_speed > waypoint_speed_gov){
-		waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
+		waypoint_speed_gov += (int)(200.0 * dTnav); // increase at .5/ms
 		max_speed = waypoint_speed_gov;
 	}