From f175bf99abc678b60cf947e7c132d41791cd23c6 Mon Sep 17 00:00:00 2001
From: Anton Kumaihorodski <akumaigorodski@gmail.com>
Date: Fri, 5 Dec 2025 07:04:03 +0200
Subject: [PATCH] Add a method to fully reset PID state

Includes resettingboth integral and derivative states.
---
 src/lib.rs | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/lib.rs b/src/lib.rs
index f66f94a..64f0f1b 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -258,6 +258,11 @@ where
         }
     }
 
+    pub fn reset(&mut self) {
+        self.reset_integral_term();
+        self.prev_measurement = None;
+    }
+
     /// Resets the integral term back to zero, this may drastically change the
     /// control output.
     pub fn reset_integral_term(&mut self) {