From a943308203a9d80fed959d961119bca5d9d53bf2 Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Tue, 13 Oct 2020 23:55:22 +0200
Subject: [PATCH] pid: never reset

---
 src/main.rs | 7 ++-----
 src/pid.rs  | 5 -----
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index 894e160..c590022 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -302,11 +302,8 @@ fn main() -> ! {
                                     let pid = &mut channels.channel_state(channel).pid;
                                     use command_parser::PidParameter::*;
                                     match parameter {
-                                        Target => {
-                                            pid.target = value;
-                                            // reset pid.integral
-                                            pid.reset();
-                                        }
+                                        Target =>
+                                            pid.target = value,
                                         KP =>
                                             pid.parameters.kp = value as f32,
                                         KI =>
diff --git a/src/pid.rs b/src/pid.rs
index c955b3d..b9a706a 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -81,11 +81,6 @@ impl Controller {
         output
     }
 
-    pub fn reset(&mut self) {
-        self.integral = 0.0;
-        self.last_input = None;
-    }
-
     pub fn summary(&self, channel: usize) -> Summary {
         Summary {
             channel,