From dd81e49b751e9ef32975abba2e3e746ca9e249be Mon Sep 17 00:00:00 2001
From: Nicola De Pasquale <ndp7c7c0@gmail.com>
Date: Sun, 19 Jan 2020 15:47:53 +0100
Subject: [PATCH] simplify iterm calculation

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

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;