MR2 Idle Control Problems

[dawesy]

hoping some one can help.
i have an MR2 turbo Running an M4 with Pro upgrade.
the basic map is fine (still need to map the boost areas as they are rich but it drives ok) the idle area is spot on.
the problem i have is that if i change the integral gain to anything but 0 the engine will idle fine until the throttle is blipped, the idle duty will then sit at 20-40% with a correspondingly high idle.
this happens even if the integral gain is set to 1.
with it set to 0 the hot idle is ok but the cold start is too low (almost like the integration limit is too low)
i have adjusted the throttle to give the desired idle speed with no idle control as this is what i was told to do.
idle is set at 850 rpm,
proportional gain is 18
integral gain 0
derivative gain 0
anti-stall gain 25
integration limit is 70
frequency is 22
min duty 0
max duty 100
any ideas on this as sitting at traffic lights with an idle of 1700 rpm with IG set at 1 or not idling from cold with it set at 0 is getting stressful
thanks in advance
lee