From 257890d5bed91432dcbe2983dab372adea75be32 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 11 Jan 2012 21:49:23 -0800
Subject: [PATCH] New Loiter Gains for new Loiter methods

---
 ArduCopter/config.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 60cbb35f7b..cde96d43f0 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -615,10 +615,10 @@
 
 
 //////////////////////////////////////////////////////////////////////////////
-// Navigation control gains
+// Loiter control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			.25		//
+# define LOITER_P			2.4		// was .25 in previous
 #endif
 #ifndef LOITER_I
 # define LOITER_I			0.1	// Wind control
@@ -627,6 +627,9 @@
 # define LOITER_IMAX		30		// degrees°
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// WP Navigation control gains
+//
 #ifndef NAV_P
 # define NAV_P				2.2			// 3 was causing rapid oscillations in Loiter
 #endif