Get rid of unneeded constrain

2017-01-30 16:09:58 +01:00 · 2017-01-30 16:09:58 +01:00 · 7bfd2b5d1c
parent 3bcf96e6eb
commit 7bfd2b5d1c
1 changed files with 0 additions and 2 deletions
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@ -254,8 +254,6 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
                dynKi *= itermAccelerator;
            float ITermDelta = Ki[axis] * errorRate * dT * dynKi;
            ITerm += ITermDelta;
-            // also limit maximum integrator value to prevent windup
-            ITerm = constrainf(ITerm, -250.0f, 250.0f);
            previousGyroIf[axis] = ITerm;
        }