diydrones/ardupilot — pull request #623 by priseborough (2013-10-21 07:11:25+00:00)
Title: APM_Control : Changes to prevent elevator and aileron trim changing with airspeed

Moved scaler on roll and pitch integrator to be before integrator. This means that the value of aileron and elevator trim offset won't change with airspeed. This is preferable, because control surface trim offsets are the main cause of non-zero integrator values. It will also make the pitch bias change with speed more consistent, rather than depending on the initial trim offset (for example previously, a nose up pitch bias requiring a negative integrator value would result in a nose down elevator trim shift as airspeed reduced.