From c35d1c1cafeba526b669344fad237c200cf22f75 Mon Sep 17 00:00:00 2001
From: David Forrest <drf@vims.edu>
Date: Tue, 20 May 2014 18:09:24 -0400
Subject: [PATCH] heater.c, config.default.h: Make PID_CONDITIONAL_INTEGRATION
 non-optional.

See
https://github.com/Traumflug/Teacup_Firmware/issues/74#issuecomment-38999466
---
 config.default.h | 8 --------
 heater.c         | 4 ----
 2 files changed, 12 deletions(-)

diff --git a/config.default.h b/config.default.h
index 40eeaab..5da1aa1 100644
--- a/config.default.h
+++ b/config.default.h
@@ -481,14 +481,6 @@ BANG_BANG_OFF
 PWM value for 'off'
 */
 // #define	BANG_BANG_OFF	45
-/** \def PID_CONDITIONAL_INTEGRATION
-  PID_CONDITIONAL_INTEGRATION
-	Controls 'integral windup' by preventing the integral term from accumulating error if the heater output is saturated high/low by
-        the other terms in the PID calculation.  This is in addition to M133/I_LIMIT mechanism, and can help prevent overshoot in cases of
-        large setpoint changes which may overfill the integral term.
-	Costs 50 bytes.
-*/
-//#define PID_CONDITIONAL_INTEGRATION
 
 /**
 	move buffer size, in number of moves
diff --git a/heater.c b/heater.c
index 61fdd33..0673da4 100644
--- a/heater.c
+++ b/heater.c
@@ -330,17 +330,13 @@ void heater_tick(heater_t h, temp_type_t type, uint16_t current_temp, uint16_t t
 
     // rebase and limit factors
     if (pid_output_intermed > 255) {
-      #ifdef PID_CONDITIONAL_INTEGRATION
       if (t_error > 0)
         heaters_runtime[h].heater_i -= t_error; // un-integrate
-      #endif
       pid_output = 255;
     }
     else if (pid_output_intermed < 0) {
-      #ifdef PID_CONDITIONAL_INTEGRATION
       if (t_error < 0)
         heaters_runtime[h].heater_i -= t_error; // un-integrate
-      #endif
       pid_output = 0;
     }
 		else