From 25cc445d7e35d58b4f38ff1bb9c1bf73e3e9cc7d Mon Sep 17 00:00:00 2001
From: Thorsten Laux <thorsten.laux@gmx.net>
Date: Thu, 24 May 2018 15:30:55 +0200
Subject: [PATCH] switch micro-optimizations

---
 src/main/flight/pid.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 5d2f6367b..640597b3c 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -641,7 +641,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             const float pidFeedForward =
                 pidCoefficient[axis].Kd * dynCd * transition *
                 (currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT;
-            if ((pidData[axis].P > 0) == (pidFeedForward > 0)) {
+            if (pidData[axis].P * pidFeedForward > 0) {
                 if (ABS(pidFeedForward) > ABS(pidData[axis].P)) {
                     pidData[axis].P = 0;
                     pidData[axis].D += pidFeedForward;