From 285f2dd7910260d9c9847b89d1a96b52ff73fff5 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 10 Mar 2012 12:38:29 -0800
Subject: [PATCH] ACM: removed the experiment for rate error.

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

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index dba7ce508d..277e87561b 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -204,8 +204,8 @@ get_nav_throttle(int32_t z_error)
 	rate_error 		= rate_error - climb_rate;
 
 	// hack to see if we can smooth out oscillations
-	if(rate_error < 0)
-		rate_error = rate_error >> 1;
+	//if(rate_error < 0)
+	//	rate_error = rate_error >> 1;
 
 	// limit the rate
 	output =  constrain(g.pid_throttle.get_pid(rate_error, .02), -80, 120);