AC_PID: If PD max limiting isn't active clear the flag

ArduPilot · Oct 11, 2023 · bc8ddab · bc8ddab
1 parent 28d827c
commit bc8ddab
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
@@ -180,6 +180,8 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit,
             P_out *= PD_scale;
             D_out *= PD_scale;
             _pid_info.PD_limit = true;
+        } else {
+            _pid_info.PD_limit = false;
         }
     }