From 68d1fa6ec7fc346d3b1ad40139a63fb86d3b5b11 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 13 Dec 2011 22:10:51 +0900
Subject: [PATCH] Arducopter - Attitude.pde - fixed small bug in pitch
 stabilise

---
 ArduCopter/Attitude.pde | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 96850ba02a..dc9a4325e1 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -69,10 +69,7 @@ get_stabilize_pitch(int32_t target_angle)
 	pitch_I 	= constrain(pitch_I, -120, 120); // +- 1200
 
 	// conver to desired Rate:
-	rate 		= g.pi_stabilize_roll.get_p(error + pitch_I);
-
-	// convert to desired Rate:
-	rate 		= g.pi_stabilize_pitch.get_p(error);
+	rate 		= g.pi_stabilize_pitch.get_p(error + pitch_I);
 
 	// experiment to pipe iterm directly into the output
 	int16_t iterm = g.pi_stabilize_pitch.get_i(error, G_Dt);