diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 7b6d9177b6..dcad9384be 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -887,10 +887,10 @@
  # define LOITER_RATE_I          	0.5f
 #endif
 #ifndef LOITER_RATE_D
- # define LOITER_RATE_D          	0.25f
+ # define LOITER_RATE_D          	0.0f
 #endif
 #ifndef LOITER_RATE_IMAX
- # define LOITER_RATE_IMAX       	30                     // degrees
+ # define LOITER_RATE_IMAX       	4               // maximum acceleration from I term build-up in m/s/s
 #endif
 
 //////////////////////////////////////////////////////////////////////////////