AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID.

libraries/AC_PID/AC_PID.cpp

@@ -45,25 +45,6 @@ float AC_PID::get_i(float error, float dt)
     return 0;
 }
 
-// This is an integrator which tends to decay to zero naturally
-// if the error is zero.
-
-float AC_PID::get_leaky_i(float error, float dt, float leak_rate)
-{
-	if((_ki != 0) && (dt != 0)){
-		_integrator -= (float)_integrator * leak_rate;
-		_integrator += ((float)error * _ki) * dt;
-		if (_integrator < -_imax) {
-			_integrator = -_imax;
-		} else if (_integrator > _imax) {
-			_integrator = _imax;
-		}
-
-		return _integrator;
-	}
-	return 0;
-}
-
 float AC_PID::get_d(float input, float dt)
 {
     if ((_kd != 0) && (dt != 0)) {

libraries/AC_PID/AC_PID.h

@@ -69,7 +69,6 @@ public:
     float       get_p(float error) const;
     float       get_i(float error, float dt);
     float       get_d(float error, float dt);
-    float       get_leaky_i(float error, float dt, float leak_rate);
 
     /// Reset the PID integrator
     ///