From 0efb0e5b4d39309a4cd4d684691ac7698086c8ec Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Thu, 29 Mar 2012 21:09:41 +0900
Subject: [PATCH] ArduCopter - added CH6_STABILIZE_KD tuning value

---
 ArduCopter/ArduCopter.pde | 4 ++++
 ArduCopter/defines.h      | 1 +
 2 files changed, 5 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index debd62fad3..b0fc2449cf 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2044,6 +2044,10 @@ static void tuning(){
 			g.pi_stabilize_pitch.kI(tuning_value);
 			break;
 
+		case CH6_STABILIZE_KD:
+			g.stabilize_d = tuning_value;
+			break;
+
 		case CH6_ACRO_KP:
 			g.acro_p = tuning_value;
 			break;
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 8066f79d6f..9f446232d3 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -141,6 +141,7 @@
 // Attitude
 #define CH6_STABILIZE_KP 1
 #define CH6_STABILIZE_KI 2
+#define CH6_STABILIZE_KD 29
 #define CH6_YAW_KP 3
 #define CH6_YAW_KI 24
 // Rate