From 83a266852a9ea037275bf5011972e04256c1cc3b Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Sun, 11 Oct 2020 01:56:22 +0200
Subject: [PATCH] pid: move ki coefficient inside integration

---
 src/pid.rs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pid.rs b/src/pid.rs
index 543e6e7..f25acb9 100644
--- a/src/pid.rs
+++ b/src/pid.rs
@@ -52,20 +52,20 @@ impl Controller {
         // partial
         let p = f64::from(self.parameters.kp) * error;
 
-        //integral
-        self.integral += error;
+        // integral
+        self.integral += f64::from(self.parameters.ki) * error;
         if self.integral < self.parameters.integral_min.into() {
             self.integral = self.parameters.integral_min.into();
         }
         if self.integral > self.parameters.integral_max.into() {
             self.integral = self.parameters.integral_max.into();
         }
-        let i = f64::from(self.parameters.ki) * f64::from(self.integral);
+        let i = self.integral;
 
         // derivative
         let d = match self.last_input {
             None => 0.0,
-            Some(last_input) => f64::from(self.parameters.kd) * (last_input - input)
+            Some(last_input) => f64::from(self.parameters.kd) * (last_input - input),
         };
         self.last_input = Some(input);