From be9b58e1b9fff8c1b5b6ada3ab05a20c478c64a4 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 5 Nov 2012 20:22:00 +0100
Subject: [PATCH] re-adding pid limitation

---
 apps/systemlib/pid/pid.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index dd8b6adc66..0358caa250 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 	// Calculate the output.  Limit output magnitude to pid->limit
 	float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
 
-	//if (output > pid->limit) output = pid->limit;
+	if (output > pid->limit) output = pid->limit;
 
-	//if (output < -pid->limit) output = -pid->limit;
+	if (output < -pid->limit) output = -pid->limit;
 
 	if (isfinite(output)) {
 		pid->last_output = output;