Use of constrain(..., -outMax, outMax) -> shouldn't this be constraint(..., outMin, outMax) ?

[JonNelson]

QuickPID/src/QuickPID.cpp

Line 100 in d0611bc

if (aw && ki) iTerm = constrain(iTermOut, -outMax, outMax);

[Dlloydev]

The purpose of using -outMax is to allow unwinding the integral accumulator by an amount that's limited equally for both positive and negative directions when the controller output is saturated. The anti-windup code was inspired from here.

Test results: