From c83da810dadb670244f48d0c3e8d92fe292e86cd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 30 Nov 2021 14:16:02 +1100
Subject: [PATCH] APM_Control: tweaks from review feedback

---
 libraries/APM_Control/AP_YawController.cpp | 3 ++-
 libraries/APM_Control/AP_YawController.h   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 7e833edc26..621d251c0b 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -269,7 +269,7 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
 
     const float dt = AP::scheduler().get_loop_period_s();
     const float eas2tas = _ahrs.get_EAS2TAS();
-    bool limit_I = fabsf(_last_out) >= 45;
+    bool limit_I = fabsf(_last_out) >= 45 || disable_integrator;
     float rate_z = _ahrs.get_gyro().z;
     float aspeed;
     float old_I = rate_pid.get_i();
@@ -314,6 +314,7 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
     pinfo.P *= deg_scale;
     pinfo.I *= deg_scale;
     pinfo.D *= deg_scale;
+    pinfo.limit = limit_I;
 
     // fix the logged target and actual values to not have the scalers applied
     pinfo.target = desired_rate;
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index 4ff955f846..c0039ec707 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -55,7 +55,7 @@ private:
     AP_Float _K_FF;
     AP_Int16 _imax;
     AP_Int8  _rate_enable;
-    AC_PID rate_pid{0.08, 0.3, 0, 0.3, 0.666, 3, 0, 12, 0.02, 150, 1};
+    AC_PID rate_pid{0.04, 0.15, 0, 0.15, 0.666, 3, 0, 12, 0.02, 150, 1};
 
     uint32_t _last_t;
     float _last_out;