From bc8ddab9b03b50657e28e6ad8c6a70f2ba3590de Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 11 Oct 2023 11:02:55 -0700
Subject: [PATCH] AC_PID: If PD max limiting isn't active clear the flag

---
 libraries/AC_PID/AC_PID.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index bf154a59d7c7c0..c2a5f05272e624 100644
--- 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;
         }
     }