diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index b61e4cc4de..a802883951 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -10,22 +10,22 @@
 
 // default rate controller PID gains
 #define AC_ATC_HELI_RATE_RP_P                       0.024f
-#define AC_ATC_HELI_RATE_RP_I                       0.6f
+#define AC_ATC_HELI_RATE_RP_I                       0.15f
 #define AC_ATC_HELI_RATE_RP_D                       0.001f
-#define AC_ATC_HELI_RATE_RP_IMAX                    1.0f
-#define AC_ATC_HELI_RATE_RP_FF                      0.060f
+#define AC_ATC_HELI_RATE_RP_IMAX                    0.4f
+#define AC_ATC_HELI_RATE_RP_FF                      0.15f
 #define AC_ATC_HELI_RATE_RP_FILT_HZ                 20.0f
 #define AC_ATC_HELI_RATE_YAW_P                      0.18f
 #define AC_ATC_HELI_RATE_YAW_I                      0.12f
 #define AC_ATC_HELI_RATE_YAW_D                      0.003f
-#define AC_ATC_HELI_RATE_YAW_IMAX                   1.0f
+#define AC_ATC_HELI_RATE_YAW_IMAX                   0.4f
 #define AC_ATC_HELI_RATE_YAW_FF                     0.024f
 #define AC_ATC_HELI_RATE_YAW_FILT_HZ                20.0f
 
 #define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX   0.95f    // Heli's use 95% of max collective before limiting frame angle
 #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE  0.02f
-#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          10.0f
-#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER          10.0f
+#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          20.0f
+#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER          20.0f
 #define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT    300
 #define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD   ToRad(30.0f)