From dc35b2f6bc065d1fd3c37a52215f863e441525bc Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 11 Oct 2023 11:02:55 -0700
Subject: [PATCH] AC_PID: If PD max limiting isn't active clear the flag

---
 libraries/AC_PID/AC_PID.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index bf154a59d7..8d3349252c 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -172,6 +172,7 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit,
     P_out *= boost;
     D_out *= boost;
 
+    _pid_info.PD_limit = false;
     // Apply PD sum limit if enabled
     if (is_positive(_kpdmax)) {
         const float PD_sum_abs = fabsf(P_out + D_out);