pidcontroller: fixed conditionIntegralErrorThreshold

source/RobotAPI/libraries/core/PIDController.cpp

@@ -129,7 +129,7 @@ void PIDController::update(double deltaSec, double measuredValue, double targetV
     //    ARMARX_INFO << deactivateSpam() << VAROUT(dt);
     if (!firstRun)
     {
-        if (error < conditionalIntegralErrorTreshold)
+        if (std::abs(error) < conditionalIntegralErrorTreshold)
         {
             integral += error * deltaSec;
             integral = math::MathUtils::LimitTo(integral, maxIntegral);