Copter: set_accel_throttle_I_from_pilot_throttle uses 0 to 1 range

ArduCopter/Attitude.cpp

@@ -287,10 +287,10 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
 }
 
 // set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
-void Copter::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
+void Copter::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
 {
     // shift difference between pilot's throttle and hover throttle into accelerometer I
-    g.pid_accel_z.set_integrator(pilot_throttle-throttle_average);
+    g.pid_accel_z.set_integrator((pilot_throttle-throttle_average) * 1000.0f);
 }
 
 // updates position controller's maximum altitude using fence and EKF limits

ArduCopter/Copter.h

@@ -616,7 +616,7 @@ private:
     float get_takeoff_trigger_throttle();
     float get_throttle_pre_takeoff(float input_thr);
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
-    void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle);
+    void set_accel_throttle_I_from_pilot_throttle(float pilot_throttle);
     void update_poscon_alt_max();
     void rotate_body_frame_to_NE(float &x, float &y);
     void gcs_send_heartbeat(void);