From f25f773e7c3a517d4a6458a1d63ca09fd8d6c1a2 Mon Sep 17 00:00:00 2001
From: Tijs van Roon <1374848+knifter@users.noreply.github.com>
Date: Tue, 22 Aug 2023 11:14:49 +0200
Subject: [PATCH] reset unlocked_last on saturation

---
 dualpid/src/pidloop.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/dualpid/src/pidloop.cpp b/dualpid/src/pidloop.cpp
index 55702d6..3eded57 100644
--- a/dualpid/src/pidloop.cpp
+++ b/dualpid/src/pidloop.cpp
@@ -108,6 +108,7 @@ void PIDLoop::calculate()
     if(!res)
     {
         _status = STATUS_ERROR;
+        _unlocked_last = now;
         return;
     };