diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index e9847c2a4d..8cd97efead 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1201,15 +1201,26 @@ void Copter::convert_pid_parameters(void)
 {
     // conversion info
     const AP_Param::ConversionInfo pid_conversion_info[] = {
-        { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
-        { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
-        { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
-        { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
-        { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
-        { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
-        { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
-        { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
-        { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
+        // { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
+        // { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
+        // { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
+        // { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
+        // { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
+        // { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
+        // { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
+        // { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
+        // { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
+
+        { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_AA_RLL_P" },
+        { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_AA_RLL_I" },
+        { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_AA_RLL_D" },
+        { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_AA_PIT_P" },
+        { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_AA_PIT_I" },
+        { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_AA_PIT_D" },
+        { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_AA_YAW_P" },
+        { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_AA_YAW_I" },
+        { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_AA_YAW_D" },
+        
 #if FRAME_CONFIG == HELI_FRAME
         { Parameters::k_param_pid_rate_roll,  4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" },
         { Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" },
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 120975848b..b99888d0cb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -1069,9 +1069,12 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
         const char *pid_name;
         AC_PID &pid;
     } pids[] = {
-        { "RAT_RLL", get_rate_roll_pid() },
-        { "RAT_PIT", get_rate_pitch_pid() },
-        { "RAT_YAW", get_rate_yaw_pid() },
+        // { "RAT_RLL", get_rate_roll_pid() },
+        // { "RAT_PIT", get_rate_pitch_pid() },
+        // { "RAT_YAW", get_rate_yaw_pid() },
+        { "AA_RLL", get_rate_roll_pid() },
+        { "AA_PIT", get_rate_pitch_pid() },
+        { "AA_YAW", get_rate_yaw_pid() },
     };
     for (uint8_t i=0; i<ARRAY_SIZE(pids); i++) {
         // if the PID has a positive FF then we just ensure kP and
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index c4b6adb74d..1945a50d25 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -87,7 +87,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
+    // AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
+    AP_SUBGROUPINFO(_pid_rate_roll, "AA_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
 
     // @Param: RAT_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
@@ -161,8 +162,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
-
+    // AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
+    AP_SUBGROUPINFO(_pid_rate_pitch, "AA_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
     // @Param: RAT_YAW_P
     // @DisplayName: Yaw axis rate controller P gain
     // @Description: Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
@@ -235,7 +236,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
+    // AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
+    AP_SUBGROUPINFO(_pid_rate_yaw, "AA_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
 
     // @Param: PIRO_COMP
     // @DisplayName: Piro Comp Enable
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 0ac8e41b90..75a8505a73 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -73,7 +73,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
+    // AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
+    AP_SUBGROUPINFO(_pid_rate_roll, "AA_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
 
     // @Param: RAT_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
@@ -141,7 +142,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
+    // AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
+    AP_SUBGROUPINFO(_pid_rate_pitch, "AA_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
 
     // @Param: RAT_YAW_P
     // @DisplayName: Yaw axis rate controller P gain
@@ -209,7 +211,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.5
     // @User: Advanced
 
-    AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
+    // AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
+    AP_SUBGROUPINFO(_pid_rate_yaw, "AA_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
 
     // @Param: THR_MIX_MIN
     // @DisplayName: Throttle Mix Minimum
diff --git a/nohup_sitl.sh b/nohup_sitl.sh
new file mode 100755
index 0000000000..6b34d14161
--- /dev/null
+++ b/nohup_sitl.sh
@@ -0,0 +1 @@
+nohup ./tcp_sitl.sh> ./log/sitl.log 2>&1 &
diff --git a/show_tcp_sitl.sh b/show_tcp_sitl.sh
new file mode 100755
index 0000000000..a63ee0e0fd
--- /dev/null
+++ b/show_tcp_sitl.sh
@@ -0,0 +1 @@
+ps -aux|grep sitl
diff --git a/sitl.sh b/sitl.sh
index 1fa3e8c125..f96e721784 100755
--- a/sitl.sh
+++ b/sitl.sh
@@ -1 +1 @@
- ./Tools/autotest/sim_vehicle.py  -j4 -L CYDS --console --out 192.168.10.137:14552 --map -A --serial5=uart:/dev/ttyS1:115200 -v ArduCopter
\ No newline at end of file
+ ./Tools/autotest/sim_vehicle.py  -j4 -L CYDS --console --out 192.168.0.51:14552 --map -A "--serial5=uart:/dev/pts/1:230400" -v ArduCopter
\ No newline at end of file
diff --git a/tcp_sitl.sh b/tcp_sitl.sh
new file mode 100755
index 0000000000..2b690d4e19
--- /dev/null
+++ b/tcp_sitl.sh
@@ -0,0 +1 @@
+./Tools/autotest/sim_vehicle.py  -j4 -L CYDS --console  --out 192.168.0.51:14552 --no-mavproxy ArduCopter -A "--serial5=uart:/dev/pts/1:230400" -v ArduCopter