From 186f7ac07da5cd5e8e86f785e970fc9608c88cd6 Mon Sep 17 00:00:00 2001
From: Philip Salmony <34550389+pms67@users.noreply.github.com>
Date: Thu, 18 Jun 2020 12:31:14 +0200
Subject: [PATCH] Changed integrator anti-windup method to static clamping.

---
 PID_Test.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/PID_Test.c b/PID_Test.c
index 042b8d8..775f155 100644
--- a/PID_Test.c
+++ b/PID_Test.c
@@ -8,11 +8,14 @@
 #define PID_KI  0.5f
 #define PID_KD  0.25f
 
-#define PID_TAU 0.01f
+#define PID_TAU 0.02f
 
 #define PID_LIM_MIN -10.0f
 #define PID_LIM_MAX  10.0f
 
+#define PID_LIM_MIN_INT -5.0f
+#define PID_LIM_MAX_INT  5.0f
+
 #define SAMPLE_TIME_S 0.01f
 
 /* Maximum run-time of simulation */
@@ -27,6 +30,7 @@ int main()
     PIDController pid = { PID_KP, PID_KI, -PID_KD,
                           PID_TAU,
                           PID_LIM_MIN, PID_LIM_MAX,
+						  PID_LIM_MIN_INT, PID_LIM_MAX_INT,
                           SAMPLE_TIME_S };
 
     PIDController_Init(&pid);