From 7735758ec5c18c4ff6ddcecef87db241d0e55953 Mon Sep 17 00:00:00 2001
From: rusefi <rusefillc@gmail.com>
Date: Sat, 11 Jul 2020 15:30:40 -0400
Subject: [PATCH] PidIndustrial does not limit iTerm fix #1599

---
 firmware/util/math/pid.cpp    | 3 +--
 firmware/util/math/pid.h      | 2 --
 unit_tests/tests/test_pid.cpp | 3 +--
 3 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/firmware/util/math/pid.cpp b/firmware/util/math/pid.cpp
index e1a73de2ad..45cc4a391e 100644
--- a/firmware/util/math/pid.cpp
+++ b/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();
diff --git a/firmware/util/math/pid.h b/firmware/util/math/pid.h
index 7bed17ee76..c7cddd8f40 100644
--- a/firmware/util/math/pid.h
+++ b/firmware/util/math/pid.h
@@ -73,8 +73,6 @@ public:
 	float iTermMax =  1000000.0;
 protected:
 	pid_s *parameters;
-
-private:
 	virtual void updateITerm(float value);
 };
 
diff --git a/unit_tests/tests/test_pid.cpp b/unit_tests/tests/test_pid.cpp
index b399e7324b..cb477c937c 100644
--- a/unit_tests/tests/test_pid.cpp
+++ b/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) {