diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ce7bc6ebdb..4d3bd81e45 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -868,7 +868,7 @@
 // Loiter position control gains
 //
 #ifndef LOITER_P
- # define LOITER_P             		2.0f
+ # define LOITER_P             		1.0f
 #endif
 #ifndef LOITER_I
  # define LOITER_I             		0.0f
@@ -881,13 +881,13 @@
 // Loiter rate control gains
 //
 #ifndef LOITER_RATE_P
- # define LOITER_RATE_P          	2.0f
+ # define LOITER_RATE_P          	1.0f
 #endif
 #ifndef LOITER_RATE_I
- # define LOITER_RATE_I          	1.0f
+ # define LOITER_RATE_I          	0.5f
 #endif
 #ifndef LOITER_RATE_D
- # define LOITER_RATE_D          	0.50f
+ # define LOITER_RATE_D          	0.25f
 #endif
 #ifndef LOITER_RATE_IMAX
  # define LOITER_RATE_IMAX       	30                     // degrees