From 4c79809efb73bebca73b970aace3ba7a4fd335b8 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Thu, 27 Oct 2011 11:55:13 -0700
Subject: [PATCH] Acro PI defaults

---
 ArduCopter/config.h | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 7d4f8a176d..5796d6a5d8 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -382,7 +382,30 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// Rate Control
+// Acro Rate Control
+//
+#ifndef ACRO_ROLL_P
+# define ACRO_ROLL_P         0.145
+#endif
+#ifndef ACRO_ROLL_I
+# define ACRO_ROLL_I         0.0
+#endif
+#ifndef ACRO_ROLL_IMAX
+# define ACRO_ROLL_IMAX	 	15			// degrees
+#endif
+
+#ifndef ACRO_PITCH_P
+# define ACRO_PITCH_P       0.145
+#endif
+#ifndef ACRO_PITCH_I
+# define ACRO_PITCH_I		0 //0.18
+#endif
+#ifndef ACRO_PITCH_IMAX
+# define ACRO_PITCH_IMAX   	15			// degrees
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// Stabilize Rate Control
 //
 #ifndef RATE_ROLL_P
 # define RATE_ROLL_P         0.145