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Remove PID iterm constrain for NAV PID controller

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-03-22 14:21:00 +01:00
parent 0cb3ce4ede
commit d7fa48b2e6
3 changed files with 2 additions and 7 deletions
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5
src/main/navigation/navigation.c
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@ -1863,11 +1863,6 @@ float navPidApply3(pidController_t *pid, const float setpoint, const float measu
}
}
/*
* Limit both output and Iterm to limit windup
*/
pid->integrator = constrain(pid->integrator, outMin, outMax);
return outValConstrained;
}