From 6a6ca8c92d886568ec06c308cc6f44da7286ae6e Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Wed, 2 Dec 2020 11:30:28 +0100
Subject: [PATCH] - PID: reverted yi reset on sign(err) change

---
 components/pid/pid.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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