pid: never reset

src/main.rs

@@ -302,11 +302,8 @@ fn main() -> ! {
                                     let pid = &mut channels.channel_state(channel).pid;
                                     use command_parser::PidParameter::*;
                                     match parameter {
-                                        Target => {
+                                        Target =>
-                                            pid.target = value;
+                                            pid.target = value,
-                                            // reset pid.integral
-                                            pid.reset();
-                                        }
                                         KP =>
                                             pid.parameters.kp = value as f32,
                                         KI =>

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,