diydrones/ardupilot — pull request #338 by priseborough (2013-06-04 08:05:06+00:00)
Title: Plane : Fixes scaler incorrectly applied to pitch and roll integrators

The current APM controllers had the airspeed scaler applied unnecessarily to the integrator path. This patch will give a more consistent integrator response across a wider range of airspeeds. This will only be noticed by users that run high integrator gains on models with a wide (> 2:1) speed range.