diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 5cd0980765..ed0cba1d09 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -46,6 +46,7 @@
 //#define RATE_ROLL_I 	0.18
 //#define RATE_PITCH_I	0.18
 //#define MOTORS_JD880
+//#define MOTORS_JD850
 
 
 // agmatthews USERHOOKS
@@ -67,4 +68,4 @@
 // #define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
 
 #define LOITER_METHOD 0
-// set to 1 to try an alternative Loiter control method
\ No newline at end of file
+// set to 1 to try an alternative Loiter control method
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index daa3456ac5..97397824a4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -483,13 +483,23 @@
 // and charachteristics changes.
 #ifdef MOTORS_JD880
 # define STABILIZE_ROLL_P 		3.6
-# define STABILIZE_ROLL_I 		0.08
-# define STABILIZE_ROLL_IMAX 	40.0		// degrees
+# define STABILIZE_ROLL_I 		0.0
+# define STABILIZE_ROLL_IMAX 	        40.0		// degrees
 # define STABILIZE_PITCH_P		3.6
-# define STABILIZE_PITCH_I		0.08
-# define STABILIZE_PITCH_IMAX	40.0		// degrees
+# define STABILIZE_PITCH_I		0.0
+# define STABILIZE_PITCH_IMAX	        40.0		// degrees
 #endif
 
+#ifdef MOTORS_JD850
+# define STABILIZE_ROLL_P 		4.0
+# define STABILIZE_ROLL_I 		0.0
+# define STABILIZE_ROLL_IMAX 	        40.0		// degrees
+# define STABILIZE_PITCH_P		4.0
+# define STABILIZE_PITCH_I		0.0
+# define STABILIZE_PITCH_IMAX	        40.0		// degrees
+#endif
+
+
 // Jasons default values that are good for smaller payload motors.
 #ifndef STABILIZE_ROLL_P
 # define STABILIZE_ROLL_P 		4.6