From fbd1eab28992ecec4aa1eccfb520bdb8cd3ac04c Mon Sep 17 00:00:00 2001
From: rusefi <arro239+rusefi@gmail.com>
Date: Fri, 2 Jun 2017 21:34:00 -0400
Subject: [PATCH] PID reset counter

---
 firmware/controllers/math/pid.cpp | 9 +++++----
 firmware/controllers/math/pid.h   | 1 +
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 64650c0c66..c2f8530d1a 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -21,9 +21,9 @@ Pid::Pid(pid_s *pid) {
 
 void Pid::init(pid_s *pid) {
 	this->pid = pid;
+	resetCounter = 0;
 
-	dTerm = iTerm = 0;
-	prevResult = prevInput = prevTarget = prevError = 0;
+	reset();
 }
 
 bool Pid::isSame(pid_s *pid) {
@@ -74,8 +74,9 @@ void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
 }
 
 void Pid::reset(void) {
-	iTerm = 0;
-	prevError = 0;
+	dTerm = iTerm = 0;
+	prevResult = prevInput = prevTarget = prevError = 0;
+	resetCounter++;
 }
 
 float Pid::getP(void) {
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index 0bcd75d9b7..5d5037bc94 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -44,6 +44,7 @@ public:
 	float dTerm; // we are remembering this only for debugging purposes
 	void showPidStatus(Logging *logging, const char*msg);
 	void sleep();
+	int resetCounter;
 private:
 	pid_s *pid;