From 10bbfdbe117e83a5f107dc7cf3ba5b65be268da7 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@sdsfcm02.smartdesign.com>
Date: Tue, 8 Nov 2011 10:13:16 -0800
Subject: [PATCH] PID test for alt hold to narrow down on a bug

---
 ArduCopter/config.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 8528df47be..12b87dfbcc 100644
--- a/ArduCopter/config.h
+++ b/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