From d8a0ce69338333b0ff6afb989c9e72e0d83adbf6 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@gmail.com>
Date: Wed, 26 Oct 2011 16:48:50 +0000
Subject: [PATCH] Just in case the Min and Max functions are not playing nice
 with AP_Var

---
 libraries/APM_PI/APM_PI.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/APM_PI/APM_PI.cpp b/libraries/APM_PI/APM_PI.cpp
index 6fd710a32a..c07b55210f 100644
--- a/libraries/APM_PI/APM_PI.cpp
+++ b/libraries/APM_PI/APM_PI.cpp
@@ -11,8 +11,12 @@ long
 APM_PI::get_pi(int32_t error, float dt)
 {
 	_integrator += ((float)error * _ki) * dt;
-	_integrator = min(_integrator, (float)_imax);
-	_integrator = max(_integrator, (float)-_imax);
+
+if (_integrator < -_imax) {
+		_integrator = -_imax;
+	} else if (_integrator > _imax) {
+		_integrator = _imax;
+	}
 
 	return (float)error * _kp + _integrator;
 }