Don't limit proportional term to the output bounds when using proport…

…ional_on_measurement

CHANGELOG.md

@@ -5,6 +5,12 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+
+### Changed
+
+- Don't limit the proportional term to the output bounds when using `proportional_on_measurement`
+
 ## [0.2.1] - 2019-03-01
 
 ### Fixed
@@ -41,7 +47,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Initial implementation
 
-[Unreleased]: https://github.com/m-lundberg/simple-pid/compare/v1.0.0...HEAD
+[Unreleased]: https://github.com/m-lundberg/simple-pid/compare/v0.2.1...HEAD
 [0.2.1]: https://github.com/m-lundberg/simple-pid/compare/v0.2.0...v0.2.1
 [0.2.0]: https://github.com/m-lundberg/simple-pid/compare/v0.1.5...v0.2.0
 [0.1.5]: https://github.com/m-lundberg/simple-pid/compare/v0.1.4...v0.1.5

simple_pid/PID.py

@@ -95,7 +95,6 @@ def __call__(self, input_):
         else:
             # add the proportional error on measurement to error_sum
             self._proportional -= self.Kp * d_input
-            self._proportional = _clamp(self._proportional, self.output_limits)
 
         # compute integral and derivative terms
         self._integral += self.Ki * error * dt