From 16ba99149b495db68836dc464bbcfe5cc8b8b8be Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Thu, 20 May 2021 20:12:20 +0930
Subject: [PATCH] AC_PID: Fix before squash 2

---
 libraries/AC_PID/AC_PID_2D.cpp | 2 +-
 libraries/AC_PID/AC_PID_2D.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_PID/AC_PID_2D.cpp b/libraries/AC_PID/AC_PID_2D.cpp
index b052e256f1..0bbfb210d0 100644
--- a/libraries/AC_PID/AC_PID_2D.cpp
+++ b/libraries/AC_PID/AC_PID_2D.cpp
@@ -149,7 +149,7 @@ Vector2f AC_PID_2D::get_p() const
     return _error * _kp;
 }
 
-Vector2f AC_PID_2D::get_i() const
+const Vector2f& AC_PID_2D::get_i() const
 {
     return _integrator;
 }
diff --git a/libraries/AC_PID/AC_PID_2D.h b/libraries/AC_PID/AC_PID_2D.h
index 8dce58b160..766f6d9905 100644
--- a/libraries/AC_PID/AC_PID_2D.h
+++ b/libraries/AC_PID/AC_PID_2D.h
@@ -33,7 +33,7 @@ public:
 
     // get results from pid controller
     Vector2f get_p() const;
-    Vector2f get_i() const;
+    const Vector2f& get_i() const;
     Vector2f get_d() const;
     Vector2f get_ff();
     const Vector2f& get_error() const { return _error; }