From 7bfd2b5d1c67d1572050ebaabb16c6896cc0c6e3 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Mon, 30 Jan 2017 16:09:58 +0100
Subject: [PATCH] Get rid of unneeded constrain

---
 src/main/flight/pid.c | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 72a2adf6ef..b580496b52 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -254,8 +254,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                 dynKi *= itermAccelerator;
             float ITermDelta = Ki[axis] * errorRate * dT * dynKi;
             ITerm += ITermDelta;
-            // also limit maximum integrator value to prevent windup
-            ITerm = constrainf(ITerm, -250.0f, 250.0f);
             previousGyroIf[axis] = ITerm;
         }