diydrones/ardupilot — pull request #542 by texlan (2013-09-11 20:23:43+00:00)
Title: Copter: restore symmetry to stability patch for Tricopters

Removes the "Increase opposing motors by 1/2 the overage of the high
motor" logic and merely moves all 3 motors down by the same amount if
one is over during the tests. This eliminates the asymmetric scaling of
the previous logic. This resolves #537