From d375de8424da9747766fce285cca2854671aed99 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@sdsfcm02.smartdesign.com>
Date: Tue, 8 Nov 2011 14:11:02 -0800
Subject: [PATCH] SIM test

---
 ArduCopter/Attitude.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index e93dfda28d..0476971bea 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -91,10 +91,10 @@ get_stabilize_yaw(int32_t target_angle)
 static int
 get_nav_throttle(int32_t z_error)
 {
-	bool calc_i = abs(z_error) < ALT_ERROR_MAX;
+	bool calc_i = (abs(z_error) < ALT_ERROR_MAX);
 	// limit error to prevent I term run up
 	z_error 		= constrain(z_error, -ALT_ERROR_MAX, ALT_ERROR_MAX);
-	int rate_error 	= g.pi_alt_hold.get_pi(z_error, .1, calc_i); //_p = .85
+	int rate_error 	= g.pi_alt_hold.get_pi(z_error, .1, false); //_p = .85
 	rate_error 		= rate_error - climb_rate;
 
 	// limit the rate