Removed debugging code from APM_PI

libraries/APM_PI/APM_PI.cpp

@@ -10,7 +10,7 @@
 long
 APM_PI::get_pi(int32_t error, float dt, bool calc_i)
 {
-	if(true)
+	if(calc_i){
 		_integrator += ((float)error * _ki) * dt;
 
 		if (_integrator < -_imax) {
@@ -18,7 +18,7 @@ APM_PI::get_pi(int32_t error, float dt, bool calc_i)
 		} else if (_integrator > _imax) {
 			_integrator = _imax;
 		}
-
+	}
 	return (float)error * _kp + _integrator;
 }