diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f506510037..2e549cd956 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V2.0.46 Beta"
+#define THISFIRMWARE "ArduCopter V2.0.47 Beta"
 /*
 ArduCopter Version 2.0 Beta
 Authors:	Jason Short
@@ -1124,7 +1124,7 @@ static void update_navigation()
 			break;
 
 		case RTL:
-			if(wp_distance > 4){
+			if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
 				// calculates desired Yaw
 				// XXX this is an experiment
 				#if FRAME_CONFIG ==	HELI_FRAME
@@ -1402,8 +1402,6 @@ static void update_nav_wp()
 		calc_loiter_pitch_roll();
 
 	} else {
-		// for long journey's reset the wind resopnse
-		// it assumes we are standing still.
 		// use error as the desired rate towards the target
 		calc_nav_rate(g.waypoint_speed_max);
 		// rotate pitch and roll to the copter frame of reference
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index a756a222ad..67585a6bfc 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -467,23 +467,23 @@
 // Navigation control gains
 //
 #ifndef LOITER_P
-# define LOITER_P			1.0		//
+# define LOITER_P			.5		//
 #endif
 #ifndef LOITER_I
-# define LOITER_I			0.01	//
+# define LOITER_I			0.0	//
 #endif
 #ifndef LOITER_IMAX
 # define LOITER_IMAX		12		// degrees°
 #endif
 
 #ifndef NAV_P
-# define NAV_P				2.0			// for 4.5 ms error = 13.5 pitch
+# define NAV_P				4.0			//
 #endif
 #ifndef NAV_I
-# define NAV_I				0.10		// this feels really low, 4s to move 1 degree pitch...
+# define NAV_I				0.25		// this feels really low, 4s to move 1 degree pitch...
 #endif
 #ifndef NAV_IMAX
-# define NAV_IMAX			16			// degrees
+# define NAV_IMAX			20			// degrees
 #endif
 
 #ifndef WAYPOINT_SPEED_MAX