pbio/control: Skip reference read on PID reset.
This was added in to ensure we had the correct starting position.  But the starting position is no longer needed as an argument for the integrator reset since
@@ -351,13 +351,9 @@ static pbio_error_t _pbio_control_start_position_control(pbio_control_t *ctl, ui
// Reset PID control if needed
if (!pbio_control_type_is_position(ctl)) {
- // Get (again) the reference at current time, so we get the correct
- // value regardless of the command path followed above.
- pbio_trajectory_reference_t ref_new;
- pbio_trajectory_get_reference(&ctl->trajectory, time_now, &ref_new);
// New angle maneuver, so reset the rate integrator
- pbio_position_integrator_reset(&ctl->position_integrator, &ctl->settings, ref_new.time);
+ pbio_position_integrator_reset(&ctl->position_integrator, &ctl->settings, time_now);
// Reset load filter
ctl->load = 0;
