Added acro_p to the params

ArduCopter/Attitude.pde

@@ -83,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle)
 static int
 get_acro_roll(int32_t target_rate)
 {
-	target_rate = target_rate * g.acro_P;
+	target_rate = target_rate * g.acro_p;
 	target_rate = constrain(target_rate, -10000, 10000);
 	return get_rate_roll(target_rate);
 }
@@ -91,7 +91,7 @@ get_acro_roll(int32_t target_rate)
 static int
 get_acro_pitch(int32_t target_rate)
 {
-	target_rate = target_rate * g.acro_P;
+	target_rate = target_rate * g.acro_p;
 	target_rate = constrain(target_rate, -10000, 10000);
 	return get_rate_pitch(target_rate);
 }

ArduCopter/Parameters.h

@@ -171,6 +171,7 @@ public:
 	// 220: PI/D Controllers
 	//
 	k_param_stabilize_d = 220,
+	k_param_acro_p,
 	k_param_pid_rate_roll,
 	k_param_pid_rate_pitch,
 	k_param_pid_rate_yaw,
@@ -293,7 +294,7 @@ public:
 	AP_Float	stabilize_d;
 
 	// PI/D controllers
-    AP_Float	acro_P;
+    AP_Float	acro_p;
 
 	AC_PID		pid_rate_roll;
 	AC_PID		pid_rate_pitch;
@@ -399,6 +400,7 @@ public:
 	camera_pitch_gain 		(CAM_PITCH_GAIN),
 	camera_roll_gain 		(CAM_ROLL_GAIN),
 	stabilize_d 			(STABILIZE_D),
+	acro_p					(ACRO_P),
 
 	// PID controller	initial P	   	    initial I		 	initial D       	initial imax
 	//-----------------------------------------------------------------------------------------------------

ArduCopter/Parameters.pde

@@ -108,6 +108,7 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(camera_pitch_gain, 	"CAM_P_G"),
 	GSCALAR(camera_roll_gain, 	"CAM_R_G"),
 	GSCALAR(stabilize_d, 		"STAB_D"),
+	GSCALAR(acro_p, 			"ACRO_P"),
 
 	// PID controller
 	//---------------

ArduCopter/config.h

@@ -558,6 +558,13 @@
 # define STABILIZE_D 		.06
 #endif
 
+
+
+#ifndef ACRO_P
+# define ACRO_P 		4.5
+#endif
+
+
 // Good for smaller payload motors.
 #ifndef STABILIZE_ROLL_P
 # define STABILIZE_ROLL_P 		4.5