diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 29514f99c1..144c8f650d 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -482,10 +482,10 @@
 # define NAV_P				2.0			// for 4.5 ms error = 13.5 pitch
 #endif
 #ifndef NAV_I
-# define NAV_I				0.1		// this
+# define NAV_I				0.12		// this
 #endif
 #ifndef NAV_IMAX
-# define NAV_IMAX			16			// degrees
+# define NAV_IMAX			20			// degrees
 #endif
 
 /*