From 0052dcc8f8bf7bb2492a8ea634673086cc0678f4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 16 Oct 2019 17:10:28 +0900
Subject: [PATCH] AC_PID: update pid_info when integrator set

---
 libraries/AC_PID/AC_PID.cpp | 7 +++++++
 libraries/AC_PID/AC_PID.h   | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 9275cf2fb5..8ea4a5fb09 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -327,4 +327,11 @@ void AC_PID::set_integrator(float target, float measurement, float i)
 void AC_PID::set_integrator(float error, float i)
 {
     _integrator = constrain_float(i - error * _kp, -_kimax, _kimax);
+    _pid_info.I = _integrator;
+}
+
+void AC_PID::set_integrator(float i)
+{
+    _integrator = constrain_float(i, -_kimax, _kimax);
+    _pid_info.I = _integrator;
 }
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 2f2529a59e..631eb1c28f 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -101,7 +101,7 @@ public:
     // integrator setting functions
     void set_integrator(float target, float measurement, float i);
     void set_integrator(float error, float i);
-    void set_integrator(float i) { _integrator = constrain_float(i, -_kimax, _kimax); }
+    void set_integrator(float i);
 
     const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }