From 0a377cfe6f7a4d629a99be33b7a3a58790c2dbfa Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 13 Aug 2026 02:21:03 +0300 Subject: [PATCH] Fix default windup value in pid INFINITY makes much more sense, since otherwise i term would be ineffective at all by default --- flix/pid.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/pid.h b/flix/pid.h index 0475ef8..071d274 100644 --- a/flix/pid.h +++ b/flix/pid.h @@ -18,7 +18,7 @@ public: LowPassFilter lpf; // low pass filter for derivative term - PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) : + PID(float p, float i = 0, float d = 0, float windup = INFINITY, float dAlpha = 1, float dtMax = 0.1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {} float update(float error) {