From 8a980cad4d73047bd14fc65eb4f062252010476e Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Fri, 15 Sep 2023 19:43:40 +0200
Subject: [PATCH] pid: disable iterm windup while we are on ground for all
 modes

---
 src/flight/pid.c | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/src/flight/pid.c b/src/flight/pid.c
index 7bf7ccce7..32486525b 100644
--- a/src/flight/pid.c
+++ b/src/flight/pid.c
@@ -181,12 +181,8 @@ static inline void pid(uint8_t x) {
   state.pid_p_term.axis[x] *= v_compensation;
 
   // I term
-  // in level mode or horizon but not racemode and while on the ground...
-  if ((rx_aux_on(AUX_LEVELMODE)) && (!rx_aux_on(AUX_RACEMODE)) && ((flags.on_ground) || (flags.in_air == 0))) {
-    // wind down the integral error
-    ierror[x] *= 0.98f;
-  } else if (flags.on_ground) {
-    // in acro mode - only wind down integral when idle up is off and throttle is 0
+  if (flags.on_ground || flags.in_air == 0) {
+    // wind down integral while we are still on ground
     ierror[x] *= 0.98f;
   }