From 471810c595c5dfbb308880c391cf262e26f47bd3 Mon Sep 17 00:00:00 2001
From: OK2CM <martin@ok2cm.cz>
Date: Sat, 23 May 2026 12:49:06 +0200
Subject: [PATCH] fix: Fixed invalid integration of negative target_delta.

(cherry picked from commit 6b4164c3409ca414f6e2ae6987d7c1836bbb750a)
---
 source/Core/Threads/PIDThread.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/Core/Threads/PIDThread.cpp b/source/Core/Threads/PIDThread.cpp
index e7183248ac..b8e0530ac7 100644
--- a/source/Core/Threads/PIDThread.cpp
+++ b/source/Core/Threads/PIDThread.cpp
@@ -130,7 +130,7 @@ template <class T, T Kp, T Ki, T Kd, T integral_limit_scale> struct PID {
     // Thus we multiply this out by the interval time to ~= dv/dt
     // Then the shift by 1000 is ms -> Seconds
 
-    integration_running_sum += (target_delta * interval_ms * Ki) / 1000;
+    integration_running_sum += (target_delta * (T)interval_ms * Ki) / 1000;
 
     // We constrain integration_running_sum to limit windup
     // This is not overly required for most use cases but can prevent large overshoot in constrained implementations