undo config change

ArduCopter/APM_Config.h

@@ -6,11 +6,11 @@
 
 //#define MAG_ORIENTATION		AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
 //#define GCS_PROTOCOL			GCS_PROTOCOL_NONE
-#define HIL_MODE				HIL_MODE_ATTITUDE
+//#define HIL_MODE				HIL_MODE_ATTITUDE
 
 //#define BROKEN_SLIDER		0		// 1 = yes (use Yaw to enter CLI mode)
 
-#define FRAME_CONFIG HELI_FRAME
+#define FRAME_CONFIG QUAD_FRAME
 	/*
 	options:
 	QUAD_FRAME
@@ -53,43 +53,3 @@
 
 //#define RATE_ROLL_I 	0.18
 //#define RATE_PITCH_I	0.18
-
-
-#define AUTO_RESET_LOITER 0
-#define FRAME_CONFIG HELI_FRAME
-
-// DEFAULT PIDS
-
-// roll
-#define STABILIZE_ROLL_P 0.70
-#define STABILIZE_ROLL_I 0.025
-#define STABILIZE_ROLL_D 0.04
-#define STABILIZE_ROLL_IMAX 7
-
-//pitch
-#define STABILIZE_PITCH_P 0.70
-#define STABILIZE_PITCH_I 0.025
-#define STABILIZE_PITCH_D 0.04
-#define STABILIZE_PITCH_IMAX 7
-
-// yaw stablise
-#define STABILIZE_YAW_P  0.7
-#define STABILIZE_YAW_I  0.02
-#define STABILIZE_YAW_D  0.0
-
-// yaw rate
-#define RATE_YAW_P  0.135   
-#define RATE_YAW_I  0.0
-#define RATE_YAW_D  0.0
-
-// throttle
-#define THROTTLE_P 0.2
-#define THROTTLE_I 0.001
-#define THROTTLE_IMAX 100
-
-// navigation
-#define NAV_LOITER_P  1.1
-#define NAV_LOITER_I  0.03
-#define NAV_LOITER_D  0.02
-#define NAV_LOITER_IMAX  10
-

ArduCopter/Mavlink_Common.h

@@ -143,7 +143,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
         g.rc_1.servo_out, 
         g.rc_2.servo_out, 
         g.rc_3.radio_out, 
-        g.rc_4.servo_out
+        g.rc_4.servo_out,
         0,
         0,
         0,