From 7e1e1f84b35a29f9601027b4c7601dce88b8f6d8 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Wed, 28 Dec 2011 22:37:00 -0800
Subject: [PATCH] updated Loiter PIDs

---
 ArduCopter/config.h | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 0132e0a270..a20bb1d538 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -370,6 +370,11 @@
 #ifndef MINIMUM_THROTTLE
 # define MINIMUM_THROTTLE	130
 #endif
+#ifndef MAXIMUM_THROTTLE
+# define MAXIMUM_THROTTLE	1000
+#endif
+
+
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
@@ -600,7 +605,7 @@
 # define LOITER_P			.3		//
 #endif
 #ifndef LOITER_I
-# define LOITER_I			0.01	//
+# define LOITER_I			0.05	// Wind control
 #endif
 #ifndef LOITER_IMAX
 # define LOITER_IMAX		30		// degrees°
@@ -610,7 +615,7 @@
 # define NAV_P				3.0			//
 #endif
 #ifndef NAV_I
-# define NAV_I				0.14		// Lowerd from .25 - saw lots of overshoot.
+# define NAV_I				0.15			// Lowerd from .25 - saw lots of overshoot.
 #endif
 #ifndef NAV_IMAX
 # define NAV_IMAX			30			// degrees