diff --git a/stm-firmware/pid-controller.c b/stm-firmware/pid-controller.c
index 141771e..83e7f77 100644
--- a/stm-firmware/pid-controller.c
+++ b/stm-firmware/pid-controller.c
@@ -65,8 +65,8 @@ static void calculate_integral(struct pid_controller *pid, float deviation)
 	/* Saturate integral term to specified maximum */
 	if (pid->integral > pid->integral_max)
 		pid->integral = pid->integral_max;
-	else if (pid->integral < -pid->integral_max)
-		pid->integral = -pid->integral_max;
+	else if (pid->integral < 0.0f)
+		pid->integral = 0.0f;
 }
 
 float pid_sample(struct pid_controller *pid, float deviation)