diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt
index 28ed17c957..f992e2abad 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-1280.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt
index 98dded8c37..641f9b80f2 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Hexa-2560.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log
index df8d0497bd..94326941b9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.build.log
@@ -66,6 +66,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt
index 461135e54e..e76064e898 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-1280.size.txt
@@ -209,7 +209,6 @@
 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
 00000008 t setup_erase(unsigned char, Menu::arg const*)
 00000008 r __menu_name__planner_menu
-00000008 W AP_IMU_Shim::update()
 00000008 r select_logs(unsigned char, Menu::arg const*)::__c
 00000008 r report_frame()::__c
 00000008 r report_frame()::__c
@@ -428,7 +427,6 @@
 00000029 r test_gps(unsigned char, Menu::arg const*)::__c
 0000002a t setup_declination(unsigned char, Menu::arg const*)
 0000002b r planner_mode(unsigned char, Menu::arg const*)::__c
-0000002c B imu
 0000002e t print_divider()
 0000002e t gcs_send_text_P(gcs_severity, prog_char_t const*)
 0000002e t gcs_data_stream_send(unsigned int, unsigned int)
@@ -437,6 +435,7 @@
 0000002f r init_ardupilot()::__c
 00000030 t planner_mode(unsigned char, Menu::arg const*)
 00000030 t send_heartbeat(mavlink_channel_t)
+00000030 B imu
 00000032 T GCS_MAVLINK::init(FastSerial*)
 00000032 W APM_PI::~APM_PI()
 00000032 r Log_Read_GPS()::__c
@@ -474,6 +473,7 @@
 00000050 r main_menu_commands
 00000050 T GCS_MAVLINK::_find_parameter(unsigned int)
 00000052 t report_version()
+00000052 W AP_IMU_Shim::update()
 00000054 t print_enabled(unsigned char)
 00000055 r main_menu_help(unsigned char, Menu::arg const*)::__c
 00000056 t readSwitch()
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log
index df8d0497bd..94326941b9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.build.log
@@ -66,6 +66,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/test.pde:26: warning: 'int8_t test_baro(uint8_t, const Menu::arg*)' declared 'static' but never defined
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt
index 4a08de41a5..419cdbc68e 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-QUADHIL-2560.size.txt
@@ -209,7 +209,6 @@
 00000007 r GCS_MAVLINK::GCS_MAVLINK(unsigned int)::__c
 00000008 t setup_erase(unsigned char, Menu::arg const*)
 00000008 r __menu_name__planner_menu
-00000008 W AP_IMU_Shim::update()
 00000008 r select_logs(unsigned char, Menu::arg const*)::__c
 00000008 r report_frame()::__c
 00000008 r report_frame()::__c
@@ -428,7 +427,6 @@
 00000029 r test_gps(unsigned char, Menu::arg const*)::__c
 0000002a t setup_declination(unsigned char, Menu::arg const*)
 0000002b r planner_mode(unsigned char, Menu::arg const*)::__c
-0000002c B imu
 0000002e t print_divider()
 0000002e t gcs_send_text_P(gcs_severity, prog_char_t const*)
 0000002e t gcs_data_stream_send(unsigned int, unsigned int)
@@ -437,6 +435,7 @@
 0000002f r init_ardupilot()::__c
 00000030 t planner_mode(unsigned char, Menu::arg const*)
 00000030 t send_heartbeat(mavlink_channel_t)
+00000030 B imu
 00000032 T GCS_MAVLINK::init(FastSerial*)
 00000032 W APM_PI::~APM_PI()
 00000032 r Log_Read_GPS()::__c
@@ -474,6 +473,7 @@
 00000050 r log_menu_commands
 00000050 r main_menu_commands
 00000050 T GCS_MAVLINK::_find_parameter(unsigned int)
+00000052 W AP_IMU_Shim::update()
 00000054 t print_enabled(unsigned char)
 00000055 r main_menu_help(unsigned char, Menu::arg const*)::__c
 00000056 t readSwitch()
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt
index 57a16384d7..ae1ad47303 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-1280.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt
index 3d1775d2c9..be0de07635 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Quad-2560.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-1280.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Tri-2560.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt
index 0fe576e776..57e2d50514 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-1280.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log
index 4791623cb4..3da39a53f9 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.build.log
@@ -47,6 +47,7 @@ autogenerated:293: warning: 'void fake_out_gps()' declared 'static' but never de
 /root/apm/ardupilot-mega/ArduCopter/GCS_Mavlink.pde:1706: warning: 'void gcs_send_text_fmt(const prog_char_t*, ...)' defined but not used
 /root/apm/ardupilot-mega/ArduCopter/test.pde:32: warning: 'int8_t test_xbee(uint8_t, const Menu::arg*)' declared 'static' but never defined
 %% libraries/APM_BMP085/APM_BMP085.o
+%% libraries/APM_BMP085/APM_BMP085_hil.o
 %% libraries/APM_PI/APM_PI.o
 %% libraries/APM_RC/APM_RC.o
 %% libraries/AP_ADC/AP_ADC_ADS7844.o
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt
index 98a0ab9fe8..19102af2aa 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt
+++ b/Tools/ArdupilotMegaPlanner/Firmware/AC2-Y6-2560.size.txt
@@ -572,9 +572,9 @@
 0000010a t send_raw_imu2(mavlink_channel_t)
 0000010a t test_gps(unsigned char, Menu::arg const*)
 0000010c t test_current(unsigned char, Menu::arg const*)
-0000010e t send_extended_status1(mavlink_channel_t, unsigned int)
 0000010e W RC_Channel::RC_Channel(unsigned int, prog_char_t const*)
 00000112 t set_next_WP(Location*)
+00000112 t send_extended_status1(mavlink_channel_t, unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000112 T GCS_MAVLINK::GCS_MAVLINK(unsigned int)
 00000118 t set_command_with_index(Location, int)
diff --git a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
index d0e428508a..e7ec09031a 100644
--- a/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
+++ b/Tools/ArdupilotMegaPlanner/Firmware/firmware2.xml
@@ -160,4 +160,55 @@
 </desc>
     <format_version>110</format_version>
   </Firmware>
+  <Firmware>
+    <url>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-1280.hex</url>
+    <url2560>http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/Firmware/AC2-HELIHIL-2560.hex</url2560>
+    <name>Please Update</name>
+    <desc>
+
+#define HIL_MODE            HIL_MODE_ATTITUDE
+#define ALLOW_RC_OVERRIDE ENABLED
+
+#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
+
+
+</desc>
+    <format_version>0</format_version>
+  </Firmware>
 </options>