diydrones/ardupilot — pull request #356 by priseborough (2013-06-11 09:21:36+00:00)
Title: Roll, Pitch and Yaw Loop Integrator Improvements

This patch adds:

a) Explicit limiting of roll pitch and yaw integrators to 1/3 of maximum travel. This is to provide protection against:
- Inexperienced users tuning of integrator gains
- Inexperienced users entering unrecoverable stall of badly pitch levelled aircraft in FBW-A when pitch integrator gain is used.

b) Reduces the minimum speed at which the pitch lop integrator operates down to 50% of the FBW min spd to allow advanced users the ability to perform full flare landings in FBW-A.