Update

Updated SetTunings to clear outputSum variable if Ki parameter = 0.
Suggested by @brN2k, issue#48.

Author: Dlloydev

README.md

@@ -100,5 +100,4 @@ void SetAntiWindupMode(iAwMode iAwMode);        // Set iTerm anti-windup to iAwC
 
 #### Get  [sTune](https://github.com/Dlloydev/sTune)   [![arduino-library-badge](https://www.ardu-badge.com/badge/sTune.svg?)](https://www.ardu-badge.com/sTune)  [![PlatformIO Registry](https://badges.registry.platformio.org/packages/dlloydev/library/sTune.svg)](https://registry.platformio.org/packages/libraries/dlloydev/sTune)
 
-A very fast autotuner capable of on-the-fly tunings and more. Example: [Autotune_QuickPID.ino](https://github.com/Dlloydev/sTune/blob/main/examples/Autotune_QuickPID/Autotune_QuickPID.ino)
-
+A very fast autotuner capable of on-the-fly tunings and more.

library.json

@@ -1,6 +1,6 @@
 {
   "name": "QuickPID",
-  "version": "3.1.1",
+  "version": "3.1.2",
   "description": "A fast PID controller with multiple options. Various Integral anti-windup, Proportional, Derivative and timer control modes.",
   "keywords": "PID, controller, signal, autotune, tuner, stune",
   "repository":

library.properties

@@ -1,5 +1,5 @@
 name=QuickPID
-version=3.1.1
+version=3.1.2
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=A fast PID controller with multiple options. Various Integral anti-windup, Proportional and Derivative control modes.

src/QuickPID.cpp

@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 3.1.1
+   QuickPID Library for Arduino - Version 3.1.2
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID_v1 Library. Licensed under the MIT License.
  **********************************************************************************/
@@ -125,6 +125,7 @@ void QuickPID::SetTunings(float Kp, float Ki, float Kd,
                           iAwMode iAwMode = iAwMode::iAwCondition) {
 
   if (Kp < 0 || Ki < 0 || Kd < 0) return;
+  if (Ki == 0) outputSum = 0;
   pmode = pMode; dmode = dMode; iawmode = iAwMode;
   dispKp = Kp; dispKi = Ki; dispKd = Kd;
   float SampleTimeSec = (float)sampleTimeUs / 1000000;