diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index a35dc02960..23a99fee31 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -1422,7 +1422,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim #else const float Ki = pidCoefficient[axis].Ki; #endif - pidData[axis].I = constrainf(previousIterm + Ki * itermErrorRate * dynCi + agGain * itermErrorRate, -itermLimit, itermLimit); + pidData[axis].I = constrainf(previousIterm + (Ki * dynCi + agGain) * itermErrorRate, -itermLimit, itermLimit); // -----calculate pidSetpointDelta float pidSetpointDelta = 0;