Yaw Performance tweaks

ArduCopter/Attitude.pde

@@ -153,7 +153,7 @@ get_stabilize_yaw(int32_t target_angle)
 	rate 		= g.pi_rate_yaw.get_pi(error, G_Dt);
 
 	// output control:
-	int16_t yaw_input = 1200 + abs(g.rc_4.control_in);
+	int16_t yaw_input = 1400 + abs(g.rc_4.control_in);
 	// smoother Yaw control:
 	rate = constrain(rate, -yaw_input, yaw_input);
 #endif

ArduCopter/config.h

@@ -582,7 +582,7 @@
 // YAW Control
 //
 #ifndef  STABILIZE_YAW_P
-# define STABILIZE_YAW_P		10			// increase for more aggressive Yaw Hold, decrease if it's bouncy
+# define STABILIZE_YAW_P		9.5			// increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
 #ifndef  STABILIZE_YAW_I
 # define STABILIZE_YAW_I		0.01		// set to .0001 to try and get over user's steady state error caused by poor balance