diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 936823a67d..debd62fad3 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2044,6 +2044,10 @@ static void tuning(){
 			g.pi_stabilize_pitch.kI(tuning_value);
 			break;
 
+		case CH6_ACRO_KP:
+			g.acro_p = tuning_value;
+			break;
+
 		case CH6_RATE_KP:
 			g.pid_rate_roll.kP(tuning_value);
 			g.pid_rate_pitch.kP(tuning_value);
@@ -2058,10 +2062,18 @@ static void tuning(){
 			g.pi_stabilize_yaw.kP(tuning_value);
 			break;
 
+		case CH6_YAW_KI:
+			g.pi_stabilize_yaw.kI(tuning_value);
+			break;
+
 		case CH6_YAW_RATE_KP:
 			g.pid_rate_yaw.kP(tuning_value);
 			break;
 
+		case CH6_YAW_RATE_KD:
+			g.pid_rate_yaw.kD(tuning_value);
+			break;
+
 		case CH6_THROTTLE_KP:
 			g.pid_throttle.kP(tuning_value);
 			break;
@@ -2079,22 +2091,32 @@ static void tuning(){
 			g.waypoint_speed_max = g.rc_6.control_in;
 			break;
 
-		case CH6_LOITER_P:
+		case CH6_LOITER_KP:
 			g.pi_loiter_lat.kP(tuning_value);
 			g.pi_loiter_lon.kP(tuning_value);
 			break;
 
-		case CH6_NAV_P:
+		case CH6_LOITER_KI:
+			g.pi_loiter_lat.kI(tuning_value);
+			g.pi_loiter_lon.kI(tuning_value);
+			break;
+
+		case CH6_NAV_KP:
 			g.pid_nav_lat.kP(tuning_value);
 			g.pid_nav_lon.kP(tuning_value);
 			break;
 
-		case CH6_LOITER_RATE_P:
+		case CH6_LOITER_RATE_KP:
 			g.pid_loiter_rate_lon.kP(tuning_value);
 			g.pid_loiter_rate_lat.kP(tuning_value);
 			break;
 
-		case CH6_LOITER_RATE_D:
+		case CH6_LOITER_RATE_KI:
+			g.pid_loiter_rate_lon.kI(tuning_value);
+			g.pid_loiter_rate_lat.kI(tuning_value);
+			break;
+
+		case CH6_LOITER_RATE_KD:
 			g.pid_loiter_rate_lon.kD(tuning_value);
 			g.pid_loiter_rate_lat.kD(tuning_value);
 			break;
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 7d827948f6..8066f79d6f 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -141,21 +141,27 @@
 // Attitude
 #define CH6_STABILIZE_KP 1
 #define CH6_STABILIZE_KI 2
-#define	CH6_YAW_KP 3
+#define CH6_YAW_KP 3
+#define CH6_YAW_KI 24
 // Rate
+#define CH6_ACRO_KP 25
 #define CH6_RATE_KP 4
 #define CH6_RATE_KI 5
 #define CH6_RATE_KD 21
-#define	CH6_YAW_RATE_KP 6
+#define CH6_YAW_RATE_KP 6
+#define CH6_YAW_RATE_KD 26
 // Altitude rate controller
 #define CH6_THROTTLE_KP 7
 // Extras
 #define CH6_TOP_BOTTOM_RATIO 8
 #define CH6_RELAY 9
-#define CH6_TRAVERSE_SPEED 10
+// Navigation
+#define CH6_TRAVERSE_SPEED 10	// maximum speed to next way point
+#define CH6_NAV_KP 11
+#define CH6_LOITER_KP 12
+#define CH6_LOITER_KI 27
 
-#define CH6_NAV_P 11
-#define CH6_LOITER_P 12
+// Trad Heli specific
 #define CH6_HELI_EXTERNAL_GYRO 13
 
 // altitude controller
@@ -169,8 +175,9 @@
 #define CH6_OPTFLOW_KD 19
 
 #define CH6_NAV_I 20
-#define CH6_LOITER_RATE_P 22
-#define CH6_LOITER_RATE_D 23
+#define CH6_LOITER_RATE_KP 22
+#define CH6_LOITER_RATE_KI 28
+#define CH6_LOITER_RATE_KD 23
 
 
 // nav byte mask