diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 8485814cb8..9d6ccda32c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1066,21 +1066,25 @@ void update_throttle_mode(void)
 				// clear the new data flag
 				invalid_throttle = false;
 			}
-			#if FRAME_CONFIG == HELI_FRAME
-				g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle);
-			#else
-				angle_boost = get_angle_boost(g.throttle_cruise);
+			angle_boost = get_angle_boost(g.throttle_cruise);
 
-				if(manual_boost != 0){
-					//remove alt_hold_velocity when implemented
+			if(manual_boost != 0){
+				//remove alt_hold_velocity when implemented
+				#if FRAME_CONFIG == HELI_FRAME
+					g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + manual_boost + get_z_damping()));
+				#else
 					g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
-					// reset next_WP.alt
-					next_WP.alt = max(current_loc.alt, 100);
-				}else{
+				#endif
+				// reset next_WP.alt
+				next_WP.alt = max(current_loc.alt, 100);
+			}else{
+				#if FRAME_CONFIG == HELI_FRAME
+					//g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
+					g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + get_z_damping()));
+				#else
 					g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping();
-				}
-
-			#endif
+				#endif
+			}
 			break;
 	}
 }
@@ -1280,14 +1284,14 @@ adjust_altitude()
 		// we remove 0 to 100 PWM from hover
 		manual_boost = g.rc_3.control_in - 180;
 		manual_boost = max(-120, manual_boost);
-		g.throttle_cruise += g.pi_alt_hold.get_integrator();
+		g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator());
 		g.pi_alt_hold.reset_I();
 		g.pi_throttle.reset_I();
 
 	}else if  (g.rc_3.control_in >= 650){
 		// we add 0 to 100 PWM to hover
 		manual_boost = g.rc_3.control_in - 650;
-		g.throttle_cruise += g.pi_alt_hold.get_integrator();
+		g.throttle_cruise += (g.pi_alt_hold.get_integrator() * g.pi_throttle.kP() + g.pi_throttle.get_integrator());
 		g.pi_alt_hold.reset_I();
 		g.pi_throttle.reset_I();
 
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index cf5abebca0..f0b3d11d7a 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -8,8 +8,13 @@ static void default_dead_zones()
 {
 	g.rc_1.set_dead_zone(60);
 	g.rc_2.set_dead_zone(60);
-	g.rc_3.set_dead_zone(60);
-	g.rc_4.set_dead_zone(200);
+	#if FRAME_CONFIG == HELI_FRAME
+	    g.rc_3.set_dead_zone(0);
+		g.rc_4.set_dead_zone(60);
+	#else
+	    g.rc_3.set_dead_zone(60);
+		g.rc_4.set_dead_zone(200);
+	#endif
 }
 
 static void init_rc_in()
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 8c4e333f45..ad738089c9 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -527,11 +527,7 @@ init_throttle_cruise()
 	if((old_control_mode <= STABILIZE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
 		g.pi_throttle.reset_I();
 		g.pi_alt_hold.reset_I();
-		#if FRAME_CONFIG == HELI_FRAME
-		    g.throttle_cruise.set_and_save(heli_get_scaled_throttle(g.rc_3.control_in));
-		#else
-			g.throttle_cruise.set_and_save(g.rc_3.control_in);
-		#endif
+		g.throttle_cruise.set_and_save(g.rc_3.control_in);
 	}
 }
 
diff --git a/libraries/AP_Common/Arduino.mk b/libraries/AP_Common/Arduino.mk
index 9850b11475..f245c32c6c 100644
--- a/libraries/AP_Common/Arduino.mk
+++ b/libraries/AP_Common/Arduino.mk
@@ -36,6 +36,9 @@
 #
 SYSTYPE			:=	$(shell uname)
 
+# force LANG to C so awk works sanely on MacOS
+export LANG=C
+
 #
 # Locate the sketch sources based on the initial Makefile's path
 #
diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index 4cbcdfeb02..751caa00b2 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -125,14 +125,6 @@ AP_DCM::matrix_update(float _G_Dt)
 	Matrix3f	update_matrix;
 	Matrix3f	temp_matrix;
 
-	//Record when you saturate any of the gyros.
-	/*
-	if( (fabs(_gyro_vector.x) >= radians(300)) ||
-		(fabs(_gyro_vector.y) >= radians(300)) ||
-		(fabs(_gyro_vector.z) >= radians(300))){
-		gyro_sat_count++;
-	}*/
-
 	_omega_integ_corr 	= _gyro_vector 		+ _omega_I;		// Used for _centripetal correction (theoretically better than _omega)
 	_omega 				= _omega_integ_corr + _omega_P;		// Equation 16, adding proportional and integral correction terms
 
@@ -232,6 +224,9 @@ AP_DCM::normalize(void)
 		_dcm_matrix.c.x = 0.0f;
 		_dcm_matrix.c.y = 0.0f;
 		_dcm_matrix.c.z = 1.0f;
+		_omega_I.x = 0.0f;
+		_omega_I.y = 0.0f;
+		_omega_I.z = 0.0f;
 	}
 }
 
@@ -348,10 +343,10 @@ AP_DCM::drift_correction(void)
 	_omega_P += _error_yaw * _kp_yaw;			// Adding yaw correction to proportional correction vector.
 	_omega_I += _error_yaw * _ki_yaw;			// adding yaw correction to integrator correction vector.
 
-	//	Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
+	//	Here we will place a limit on the integrator so that the integrator cannot ever exceed ~30 degrees/second
 	integrator_magnitude = _omega_I.length();
-	if (integrator_magnitude > radians(300)) {
-		_omega_I *= (0.5f * radians(300) / integrator_magnitude);		// Why do we have this discontinuous?  EG, why the 0.5?
+	if (integrator_magnitude > radians(30)) {
+		_omega_I *= (radians(30) / integrator_magnitude);		
 	}
 	//Serial.print("*");
 }
@@ -398,12 +393,4 @@ AP_DCM::euler_yaw(void)
 		yaw_sensor += 36000;
 }
 
-/**************************************************/
-
-float
-AP_DCM::get_health(void)
-{
-	return _health;
-}
-
 
diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h
index 503f2ab1fa..afec0fcd45 100644
--- a/libraries/AP_DCM/AP_DCM.h
+++ b/libraries/AP_DCM/AP_DCM.h
@@ -43,7 +43,9 @@ public:
 	Vector3f	get_accel(void) { return _accel_vector; }
 	Matrix3f	get_dcm_matrix(void) {return _dcm_matrix; }
 	Matrix3f	get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix;  return temp.transpose();}
-
+	Vector3f	get_integrator(void) {return _omega_I; }		// We return the current drift correction integrator values
+	
+	float		get_health(void) {return _health;}
 	void		set_centripetal(bool b) {_centripetal = b;}
 	bool		get_centripetal(void) {return _centripetal;}
 	void		set_compass(Compass *compass);
@@ -52,8 +54,6 @@ public:
 	void 		update_DCM(void);
 	void 		update_DCM_fast(void);
 
-	float		get_health(void);
-
 	long		roll_sensor;					// Degrees * 100
 	long		pitch_sensor;					// Degrees * 100
 	long		yaw_sensor;						// Degrees * 100