From 6d42f25105213797df4a9bb57634f2564cc6a9fe Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Sat, 16 Sep 2023 01:06:59 +0200
Subject: [PATCH] pid: do not wind down interal when we get stick input

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

diff --git a/src/flight/pid.c b/src/flight/pid.c
index 32486525b..e98ffd3f3 100644
--- a/src/flight/pid.c
+++ b/src/flight/pid.c
@@ -181,8 +181,8 @@ static inline void pid(uint8_t x) {
   state.pid_p_term.axis[x] *= v_compensation;
 
   // I term
-  if (flags.on_ground || flags.in_air == 0) {
-    // wind down integral while we are still on ground
+  if (flags.in_air == 0 && fabsf(state.error.axis[x]) < 0.05f) {
+    // wind down integral while we are still on ground and we do not get any input from the sticks
     ierror[x] *= 0.98f;
   }