From 1123eb99ff8925db2baf83e9f9513620b8770955 Mon Sep 17 00:00:00 2001
From: rusefi <rusefillc@gmail.com>
Date: Thu, 25 Apr 2019 20:50:28 -0400
Subject: [PATCH] PID - fix dTime usages #776

---
 firmware/util/math/pid.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/pid.cpp
index 14495ed7b1..cdedb666a9 100644
--- a/firmware/util/math/pid.cpp
+++ b/firmware/util/math/pid.cpp
@@ -39,7 +39,8 @@ bool Pid::isSame(pid_s *pid) {
  * @returns Output from the PID controller / the input to the process
  */
 float Pid::getOutput(float target, float input) {
-	return getOutput(target, input, 1);
+	float dTime = MS2SEC(GET_PERIOD_LIMITED(pid));
+	return getOutput(target, input, dTime);
 }
 
 float Pid::getUnclampedOutput(float target, float input, float dTime) {