From 72407653428f52c0f8e832b0aa8eb88dc5800ce5 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Thu, 18 Jul 2013 16:52:06 -0400
Subject: [PATCH] TradHeli: Use Leaky Integrator on Yaw Rate controller

Use when rotor is not running to prevent the rudder from slowly moving over
---
 ArduCopter/heli.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 0bf10ef191..8841a12bff 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -174,7 +174,11 @@ get_heli_rate_yaw(int32_t target_rate)
     if (pid_saturated){
         i = g.pid_rate_yaw.get_integrator();                    // Locked Integrator due to PID saturation on previous cycle
     } else {
-        i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
+        if (motors.motor_runup_complete()){
+            i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
+        } else {
+            i = g.pid_rate_yaw.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE);	// If motor is not running use leaky I-term to avoid excessive build-up
+        }
     }
 
     d = g.pid_rate_yaw.get_d(rate_error, G_Dt);