From f4dd8a4f991f0b1d97c8b836c4dbdf4bf69a1041 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 31 May 2011 05:39:58 +0000
Subject: [PATCH] 2.0.20

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2449 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/navigation.pde | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduCopterMega/navigation.pde b/ArduCopterMega/navigation.pde
index 4185d1fb1a..8c4a2e1c21 100644
--- a/ArduCopterMega/navigation.pde
+++ b/ArduCopterMega/navigation.pde
@@ -168,6 +168,9 @@ void calc_rate_nav()
 	nav_lat 		= nav_lat + g.pid_nav_wp.get_pid(error, dTnav, 1.0);
 	nav_lat 		>>= 1; // divide by two
 
+	// unfiltered:
+	//nav_lat 		= g.pid_nav_wp.get_pid(error, dTnav, 1.0);
+
 	//Serial.printf("dTnav: %ld, gs: %d, err: %d, int: %d, pitch: %ld", dTnav,  groundspeed, error, (int)g.pid_nav_wp.get_integrator(), (long)nav_lat);
 
 	// limit our output