From 5152d236501d9659828c432343a3ff9227ef3c2a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 31 Jul 2011 20:09:27 +0000
Subject: [PATCH] 2.0.39 mistake on the defaults for kP - not symmetrical.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2985 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/config.h | 34 +++++++++++++++++-----------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index 13a9c3adca..c863890010 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -296,7 +296,7 @@
 
 
 //////////////////////////////////////////////////////////////////////////////
-// Roll Control
+// Attitude Control
 //
 #ifndef STABILIZE_ROLL_P
 # define STABILIZE_ROLL_P 		4.0
@@ -305,22 +305,9 @@
 # define STABILIZE_ROLL_I 		0.025
 #endif
 #ifndef STABILIZE_ROLL_IMAX
-# define STABILIZE_ROLL_IMAX 	15		// degrees
+# define STABILIZE_ROLL_IMAX 	10		// degrees
 #endif
 
-#ifndef RATE_ROLL_P
-# define RATE_ROLL_P         .12
-#endif
-#ifndef RATE_ROLL_I
-# define RATE_ROLL_I         0.0
-#endif
-#ifndef RATE_ROLL_IMAX
-# define RATE_ROLL_IMAX	 	5			// degrees
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Pitch Control
-//
 #ifndef STABILIZE_PITCH_P
 # define STABILIZE_PITCH_P		4.0
 #endif
@@ -328,7 +315,20 @@
 # define STABILIZE_PITCH_I		0.025
 #endif
 #ifndef STABILIZE_PITCH_IMAX
-# define STABILIZE_PITCH_IMAX	15		// degrees
+# define STABILIZE_PITCH_IMAX	10		// degrees
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// Rate Control
+//
+#ifndef RATE_ROLL_P
+# define RATE_ROLL_P         .12
+#endif
+#ifndef RATE_ROLL_I
+# define RATE_ROLL_I         0.0
+#endif
+#ifndef RATE_ROLL_IMAX
+# define RATE_ROLL_IMAX	 	15			// degrees
 #endif
 
 #ifndef RATE_PITCH_P
@@ -338,7 +338,7 @@
 # define RATE_PITCH_I		0.0
 #endif
 #ifndef RATE_PITCH_IMAX
-# define RATE_PITCH_IMAX   	5			// degrees
+# define RATE_PITCH_IMAX   	15			// degrees
 #endif
 
 //////////////////////////////////////////////////////////////////////////////