Copter: update Y6 defaults

ArduCopter/config.h

@@ -104,7 +104,7 @@
 #endif
 
 /////////////////////////////////////////////////////////////////////////////////
-// Bulk defines for TradHeli
+// TradHeli defaults
 #if FRAME_CONFIG == HELI_FRAME
   # define RC_FAST_SPEED 				125
   # define WP_YAW_BEHAVIOR_DEFAULT      YAW_LOOK_AT_HOME
@@ -118,6 +118,17 @@
   # define MPU6K_FILTER                 10
 #endif
 
+/////////////////////////////////////////////////////////////////////////////////
+// Y6 defaults
+#if FRAME_CONFIG == Y6_FRAME
+  # define RATE_ROLL_P    				0.1f
+  # define RATE_ROLL_D    				0.006f
+  # define RATE_PITCH_P    				0.1f
+  # define RATE_PITCH_D    				0.006f
+  # define RATE_YAW_P    				0.150f
+  # define RATE_YAW_I    				0.015f
+#endif
+
 
 // optical flow doesn't work in SITL yet
 #ifdef DESKTOP_BUILD