From 0d8071a4013a162040c38d882d7a01ce13fcef66 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 3 Dec 2011 17:55:11 -0800
Subject: [PATCH] Added new gain and clamp value for DCM

---
 ArduCopter/system.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 5c07a92502..c3ea4c41e4 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -343,10 +343,11 @@ static void init_ardupilot()
 	reset_control_switch();
 
 	#if HIL_MODE != HIL_MODE_ATTITUDE
-		dcm.kp_roll_pitch(0.030000);
+		dcm.kp_roll_pitch(0.130000);
 		dcm.ki_roll_pitch(0.00001278),	// 50 hz I term
 		dcm.kp_yaw(0.08);
 		dcm.ki_yaw(0.00004);
+		dcm._clamp = 5;
 	#endif
 
 	// init the Z damopener