should be abs()

2021-05-26 17:24:19 +01:00
parent cd7b3cd26b
commit 941a158295
1 changed files with 1 additions and 1 deletions
@@ -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))