diff --git a/components/pid/pid.py b/components/pid/pid.py
index ee38b19..63ec796 100644
--- a/components/pid/pid.py
+++ b/components/pid/pid.py
@@ -36,7 +36,7 @@ class Pid:
         yp = kp * err
 
         # Reset yi on error sign changes
-        if yp > self.y_max or yp <= self.y_min or np.sign(err) != np.sign(self.err):
+        if yp > self.y_max or yp <= self.y_min:
             self.yi = 0
 
         self.err = err