diff --git a/lib/oven.py b/lib/oven.py index 1183e34..2268388 100644 --- a/lib/oven.py +++ b/lib/oven.py @@ -411,7 +411,7 @@ class PID(): if self.ki > 0: if config.stop_integral_windup == True: - if self.kp * error < window_size: + if abs(self.kp * error) < window_size: self.iterm += (error * timeDelta * (1/self.ki)) else: self.iterm += (error * timeDelta * (1/self.ki))