From 21856e76967a5fe82c41fb1ef46aa51929947cf6 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 15 Feb 2012 09:09:42 -0800
Subject: [PATCH] new defaults for params

---
 ArduCopter/config.h | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 3cb4c18a97..d86b929d78 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -510,6 +510,12 @@
 # define SUPER_SIMPLE		DISABLED
 #endif
 
+// RTL Mode
+#ifndef RTL_AUTO_LAND
+# define RTL_AUTO_LAND 		ENABLED
+#endif
+
+
 // LOITER Mode
 #ifndef OF_LOITER_YAW
 # define OF_LOITER_YAW 		YAW_HOLD
@@ -640,6 +646,22 @@
 # define LOITER_IMAX		30		// degrees
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Loiter Navigation control gains
+//
+#ifndef LOITER_RATE_P
+# define LOITER_RATE_P				3.0			//
+#endif
+#ifndef LOITER_RATE_I
+# define LOITER_RATE_I				0.1			// Wind control
+#endif
+#ifndef LOITER_RATE_D
+# define LOITER_RATE_D				0.00		//
+#endif
+#ifndef LOITER_RATE_IMAX
+# define LOITER_RATE_IMAX			30			// degrees
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // WP Navigation control gains
 //
@@ -656,6 +678,13 @@
 # define NAV_IMAX			30			// degrees
 #endif
 
+#ifndef AUTO_SLEW_RATE
+# define AUTO_SLEW_RATE		30			// degrees
+#endif
+
+
+
+
 #ifndef WAYPOINT_SPEED_MAX
 # define WAYPOINT_SPEED_MAX		600			// 6m/s error = 13mph
 #endif