Merge branch 'master' into noisecouple

2021-06-07 10:17:52 -04:00
parent bee27bed29 09ee64403f
commit 3d9dbd6778
4 changed files with 34 additions and 36 deletions
@@ -476,8 +476,7 @@ class PID():

        if self.ki > 0:
            if config.stop_integral_windup == True:
-                margin = setpoint * config.stop_integral_windup_margin/100
-                if (abs(error) <= abs(margin)):
+                if abs(self.kp * error) < window_size:
                    self.iterm += (error * timeDelta * (1/self.ki))
            else:
                self.iterm += (error * timeDelta * (1/self.ki))