2 files changed, 7 insertions, 0 deletions
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 0358caa25..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	return pid->last_output;
 }
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
index b51afef9e..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
 
+__EXPORT void pid_reset_integral(PID_t *pid);
 
 
 #endif /* PID_H_ */