diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index d8cb29e842..ca2e3bbd92 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -537,61 +537,131 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: RATE_RLL_P
     // @DisplayName: Roll axis rate controller P gain
     // @Description: Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
-    // @Range 0.08 0.20
+    // @Range: 0.08 0.20
     // @User: Standard
 
     // @Param: RATE_RLL_I
     // @DisplayName: Roll axis rate controller I gain
     // @Description: Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate
-    // @Range 0.01 0.5
+    // @Range: 0.01 0.5
+    // @User: Standard
+
+    // @Param: RATE_RLL_IMAX
+    // @DisplayName: Roll axis rate controller I gain maximum
+    // @Description: Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Range: 0 500
+    // @Unit: PWM
     // @User: Standard
 
     // @Param: RATE_RLL_D
     // @DisplayName: Roll axis rate controller D gain
     // @Description: Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate
-    // @Range 0.001 0.008
+    // @Range: 0.001 0.008
     // @User: Standard
     GGROUP(pid_rate_roll,     "RATE_RLL_", AC_PID),
 
     // @Param: RATE_PIT_P
     // @DisplayName: Pitch axis rate controller P gain
     // @Description: Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
-    // @Range 0.08 0.20
+    // @Range: 0.08 0.20
     // @User: Standard
 
     // @Param: RATE_PIT_I
     // @DisplayName: Pitch axis rate controller I gain
     // @Description: Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate
-    // @Range 0.01 0.5
+    // @Range: 0.01 0.5
+    // @User: Standard
+
+    // @Param: RATE_PIT_IMAX
+    // @DisplayName: Pitch axis rate controller I gain maximum
+    // @Description: Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Range: 0 500
+    // @Unit: PWM
     // @User: Standard
 
     // @Param: RATE_PIT_D
     // @DisplayName: Pitch axis rate controller D gain
     // @Description: Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate
-    // @Range 0.001 0.008
+    // @Range: 0.001 0.008
     // @User: Standard
     GGROUP(pid_rate_pitch,    "RATE_PIT_", AC_PID),
 
     // @Param: RATE_YAW_P
     // @DisplayName: Yaw axis rate controller P gain
     // @Description: Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
-    // @Range 0.150 0.250
+    // @Range: 0.150 0.250
     // @User: Standard
 
     // @Param: RATE_YAW_I
     // @DisplayName: Yaw axis rate controller I gain
     // @Description: Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate
-    // @Range 0.010 0.020
+    // @Range: 0.010 0.020
+    // @User: Standard
+
+    // @Param: RATE_YAW_IMAX
+    // @DisplayName: Yaw axis rate controller I gain maximum
+    // @Description: Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Range: 0 500
+    // @Unit: PWM
     // @User: Standard
 
     // @Param: RATE_YAW_D
     // @DisplayName: Yaw axis rate controller D gain
     // @Description: Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate
-    // @Range 0.000 0.001
+    // @Range: 0.000 0.001
     // @User: Standard
     GGROUP(pid_rate_yaw,      "RATE_YAW_", AC_PID),
 
+    // @Param: LOITER_LAT_P
+    // @DisplayName: Loiter latitude rate controller P gain
+    // @Description: Loiter latitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the latitude direction
+    // @Range: 2.000 6.000
+    // @User: Standard
+
+    // @Param: LOITER_LAT_I
+    // @DisplayName: Loiter latitude rate controller I gain
+    // @Description: Loiter latitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the latitude direction
+    // @Range: 0.020 0.060
+    // @User: Standard
+
+    // @Param: LOITER_LAT_IMAX
+    // @DisplayName: Loiter rate controller I gain maximum
+    // @Description: Loiter rate controller I gain maximum.  Constrains the lean angle that the I gain will output
+    // @Range: 0 4500
+    // @Unit: Centi-Degrees
+    // @User: Standard
+
+    // @Param: LOITER_LAT_D
+    // @DisplayName: Loiter latitude rate controller D gain
+    // @Description: Loiter latitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed
+    // @Range: 0.200 0.600
+    // @User: Standard
     GGROUP(pid_loiter_rate_lat,      "LOITER_LAT_",  AC_PID),
+
+    // @Param: LOITER_LON_P
+    // @DisplayName: Loiter longitude rate controller P gain
+    // @Description: Loiter longitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the longitude direction
+    // @Range: 2.000 6.000
+    // @User: Standard
+
+    // @Param: LOITER_LON_I
+    // @DisplayName: Loiter longitude rate controller I gain
+    // @Description: Loiter longitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the longitude direction
+    // @Range: 0.020 0.060
+    // @User: Standard
+
+    // @Param: LOITER_LON_IMAX
+    // @DisplayName: Loiter longitude rate controller I gain maximum
+    // @Description: Loiter longitude rate controller I gain maximum.  Constrains the lean angle that the I gain will output
+    // @Range: 0 4500
+    // @Unit: Centi-Degrees
+    // @User: Standard
+
+    // @Param: LOITER_LON_D
+    // @DisplayName: Loiter longituderate controller D gain
+    // @Description: Loiter longitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed
+    // @Range: 0.200 0.600
+    // @User: Standard
     GGROUP(pid_loiter_rate_lon,      "LOITER_LON_",  AC_PID),
 
     GGROUP(pid_nav_lat,             "NAV_LAT_",  AC_PID),