PID test for alt hold to narrow down on a bug

ArduCopter/config.h

@@ -377,7 +377,7 @@
 # define STABILIZE_ROLL_P 		4.6
 #endif
 #ifndef STABILIZE_ROLL_I
-# define STABILIZE_ROLL_I 		0.001
+# define STABILIZE_ROLL_I 		0.0
 #endif
 #ifndef STABILIZE_ROLL_IMAX
 # define STABILIZE_ROLL_IMAX 	1.5		// degrees
@@ -387,7 +387,7 @@
 # define STABILIZE_PITCH_P		4.6
 #endif
 #ifndef STABILIZE_PITCH_I
-# define STABILIZE_PITCH_I		0.001
+# define STABILIZE_PITCH_I		0.0
 #endif
 #ifndef STABILIZE_PITCH_IMAX
 # define STABILIZE_PITCH_IMAX	1.5		// degrees
@@ -511,7 +511,7 @@
 # define THR_HOLD_P		0.4			//
 #endif
 #ifndef THR_HOLD_I
-# define THR_HOLD_I		0.02		// with 4m error, 12.5s windup
+# define THR_HOLD_I		0.00		// with 4m error, 12.5s windup
 #endif
 #ifndef THR_HOLD_IMAX
 # define THR_HOLD_IMAX	300