message: Fix merge issue with ACIM code
diff: @@ -305,7 +305,7 @@ bool Controller::update(float* current_setpoint_output) {
  }
  v_err = vel_des - *vel_estimate_src;
  - Iq += (config_.vel_gain * gain_scheduling_multiplier) * v_err;
  + Iq += (vel_gain * gain_scheduling_multiplier) * v_err;
  // Velocity integral action before limiting
  Iq += vel_integrator_current_;
  @@ -317,7 +317,7 @@ bool Controller::update(float* current_setpoint_output) {
  set_error(ERROR_INVALID_ESTIMATE);
  return false;
  }
  - Iq = limitVel(config_.vel_limit, *vel_estimate_src, config_.vel_gain, Iq);
  + Iq = limitVel(config_.vel_limit, *vel_estimate_src, vel_gain, Iq);
  }
  // Current limiting
  @@ -343,7 +343,7 @@ bool Controller::update(float* current_setpoint_output) {
  // TODO make decayfactor configurable
  vel_integrator_current_ *= 0.99f;
  } else {
  - vel_integrator_current_ += ((config_.vel_integrator_gain * gain_scheduling_multiplier) * current_meas_period) * v_err;
  + vel_integrator_current_ += ((vel_integrator_gain * gain_scheduling_multiplier) * current_meas_period) * v_err;
  }
  }
  