fix: PID invalid integration of negative target_delta#2213
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(cherry picked from commit 6b4164c)
Ralim
approved these changes
May 24, 2026
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(cherry picked from commit 6b4164c)
What kind of change does this PR introduce?
Bug fix
What is the current behavior?
interval_ms is TickType_t which is UNSIGNED. Multiplication (target_delta * interval_ms * Ki) gives wrong results when target_delta is negative.
What is the new behavior (if this is a feature change)?
Mathematically correct result.
Other information:
Example: https://www.programiz.com/online-compiler/4s9BkH6P4IPr2
Explanation: https://stackoverflow.com/a/50632