- PID: reverted yi reset on sign(err) change

2020-12-02 11:30:28 +01:00
parent 6939650708
commit 6a6ca8c92d
1 changed files with 1 additions and 1 deletions
@@ -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