PidIndustrial does not limit iTerm fix #1599

firmware/util/math/pid.cpp

@@ -269,8 +269,7 @@ float PidIndustrial::getOutput(float target, float input, float dTime) {
 	// (error - previousError) = (target-input) - (target-prevousInput) = -(input - prevousInput)
 	dTerm = dTerm * ad + (error - previousError) * bd;
 
-	// update the I-term
-	iTerm += parameters->iFactor * dTime * error;
+	updateITerm(parameters->iFactor * dTime * error);
 
 	// calculate output and apply the limits
 	float output = pTerm + iTerm + dTerm + getOffset();

firmware/util/math/pid.h

@@ -73,8 +73,6 @@ public:
 	float iTermMax =  1000000.0;
 protected:
 	pid_s *parameters;
-
-private:
 	virtual void updateITerm(float value);
 };
 

unit_tests/tests/test_pid.cpp

@@ -101,8 +101,7 @@ TEST(util, industrialPidLimits) {
 	commonPidTestParameters(&pidS);
 
 	PidIndustrial pid(&pidS);
-// todo: #1599
-//	commonPidTest(&pid);
+	commonPidTest(&pid);
 }
 
 TEST(util, pidIndustrial) {