From 5c68a04c5d098e20682221190beee67b960b7933 Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
 <tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 13 Aug 2011 04:46:21 +0000
Subject: [PATCH] PID: fixed an uninitialised variable

we did not initialise derivative to zero

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/PID/PID.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index fb6cb4c536..69132c8a02 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -18,7 +18,7 @@ PID::get_pid(int32_t error, uint16_t dt, float scaler)
 
 	// Compute derivative component if time has elapsed
 	if ((fabs(_kd) > 0) && (dt > 0)) {
-		float derivative;
+		float derivative = 0;
 		// add in
 		_filter[_filter_index] = (error - _last_error) / delta_time;
 		_filter_index++;