Pid Controller: Set integral term lower boundary to 0
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@ -65,8 +65,8 @@ static void calculate_integral(struct pid_controller *pid, float deviation)
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/* Saturate integral term to specified maximum */
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if (pid->integral > pid->integral_max)
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pid->integral = pid->integral_max;
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else if (pid->integral < -pid->integral_max)
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pid->integral = -pid->integral_max;
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else if (pid->integral < 0.0f)
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pid->integral = 0.0f;
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}
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float pid_sample(struct pid_controller *pid, float deviation)
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