AC_PID: update pid_info when integrator set

libraries/AC_PID/AC_PID.cpp

@@ -327,4 +327,11 @@ void AC_PID::set_integrator(float target, float measurement, float i)
 void AC_PID::set_integrator(float error, float i)
 {
     _integrator = constrain_float(i - error * _kp, -_kimax, _kimax);
+    _pid_info.I = _integrator;
+}
+
+void AC_PID::set_integrator(float i)
+{
+    _integrator = constrain_float(i, -_kimax, _kimax);
+    _pid_info.I = _integrator;
 }

libraries/AC_PID/AC_PID.h

@@ -101,7 +101,7 @@ public:
     // integrator setting functions
     void set_integrator(float target, float measurement, float i);
     void set_integrator(float error, float i);
-    void set_integrator(float i) { _integrator = constrain_float(i, -_kimax, _kimax); }
+    void set_integrator(float i);
 
     const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }