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fix: PID invalid integration of negative target_delta #2213

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Merged
Ralim merged 1 commit into from
May 24, 2026
Merged

fix: PID invalid integration of negative target_delta #2213

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2 changes: 1 addition & 1 deletion source/Core/Threads/PIDThread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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