From 94d16d426fb1ddd332bc11493eab0bdd393c6504 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 10 Oct 2012 15:55:14 +0900
Subject: [PATCH] ArduCopter: move I terms from stabilize to rate controllers

---
 ArduCopter/config.h | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 0ef12d2205..fd45cc7554 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -665,7 +665,7 @@
  # define STABILIZE_ROLL_P               4.5
 #endif
 #ifndef STABILIZE_ROLL_I
- # define STABILIZE_ROLL_I               0.05
+ # define STABILIZE_ROLL_I               0.0
 #endif
 #ifndef STABILIZE_ROLL_IMAX
  # define STABILIZE_ROLL_IMAX    8.0            // degrees
@@ -675,7 +675,7 @@
  # define STABILIZE_PITCH_P              4.5
 #endif
 #ifndef STABILIZE_PITCH_I
- # define STABILIZE_PITCH_I              0.05
+ # define STABILIZE_PITCH_I              0.0
 #endif
 #ifndef STABILIZE_PITCH_IMAX
  # define STABILIZE_PITCH_IMAX   8.0            // degrees
@@ -685,7 +685,7 @@
  # define STABILIZE_YAW_P                4.5            // increase for more aggressive Yaw Hold, decrease if it's bouncy
 #endif
 #ifndef  STABILIZE_YAW_I
- # define STABILIZE_YAW_I                0.02
+ # define STABILIZE_YAW_I                0.0
 #endif
 #ifndef  STABILIZE_YAW_IMAX
  # define STABILIZE_YAW_IMAX             8.0            // degrees * 100
@@ -699,7 +699,7 @@
  # define RATE_ROLL_P        0.175
 #endif
 #ifndef RATE_ROLL_I
- # define RATE_ROLL_I        0.0
+ # define RATE_ROLL_I        0.02
 #endif
 #ifndef RATE_ROLL_D
  # define RATE_ROLL_D        0.004
@@ -712,7 +712,7 @@
  # define RATE_PITCH_P       0.175
 #endif
 #ifndef RATE_PITCH_I
- # define RATE_PITCH_I           0.0
+ # define RATE_PITCH_I           0.02
 #endif
 #ifndef RATE_PITCH_D
  # define RATE_PITCH_D       0.004
@@ -986,10 +986,6 @@
  # define USE_CURRENT_ALT FALSE
 #endif
 
-#ifndef CUT_MOTORS
- # define CUT_MOTORS             1              // do we cut the motors with no throttle?
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // RC override
 //