From 2d75b0312ebda6edd4ae47763c0d5aa5c1a32908 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 18:27:45 +0000
Subject: [PATCH] AC_PID: return P and D as output with slew limit and sum
 limit applyed

---
 libraries/AC_PID/AC_PID.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 358535592f..aa19e44a5f 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -323,7 +323,7 @@ void AC_PID::update_i(float dt, bool limit)
 
 float AC_PID::get_p() const
 {
-    return _error * _kp;
+    return _pid_info.P;
 }
 
 float AC_PID::get_i() const
@@ -333,7 +333,7 @@ float AC_PID::get_i() const
 
 float AC_PID::get_d() const
 {
-    return _kd * _derivative;
+    return _pid_info.D;
 }
 
 float AC_PID::get_ff() const