From 4b47a618a4edaea617c837b46a0f868bdab20699 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 7 Sep 2014 22:14:40 +0900
Subject: [PATCH] Copter: reduce alt hold defaults

Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
---
 ArduCopter/config.h | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 77c2e41b3b..fdd22d92ec 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -685,7 +685,21 @@
 
 // RATE control
 #ifndef THROTTLE_RATE_P
- # define THROTTLE_RATE_P       6.0f
+ # define THROTTLE_RATE_P       5.0f
+#endif
+
+// Throttle Accel control
+#ifndef THROTTLE_ACCEL_P
+ # define THROTTLE_ACCEL_P      0.50f
+#endif
+#ifndef THROTTLE_ACCEL_I
+ # define THROTTLE_ACCEL_I      1.00f
+#endif
+#ifndef THROTTLE_ACCEL_D
+ # define THROTTLE_ACCEL_D      0.0f
+#endif
+#ifndef THROTTLE_ACCEL_IMAX
+ # define THROTTLE_ACCEL_IMAX   500
 #endif
 
 // default maximum vertical velocity and acceleration the pilot may request
@@ -705,20 +719,6 @@
  # define ALT_HOLD_ACCEL_MAX 250    // if you change this you must also update the duplicate declaration in AC_WPNav.h
 #endif
 
-// Throttle Accel control
-#ifndef THROTTLE_ACCEL_P
- # define THROTTLE_ACCEL_P  0.75f
-#endif
-#ifndef THROTTLE_ACCEL_I
- # define THROTTLE_ACCEL_I  1.50f
-#endif
-#ifndef THROTTLE_ACCEL_D
- # define THROTTLE_ACCEL_D 0.0f
-#endif
-#ifndef THROTTLE_ACCEL_IMAX
- # define THROTTLE_ACCEL_IMAX 500
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Dataflash logging control
 //