This and the other changes below change the integrator unit from control output (0..1, since we're symmetric from -1..+1) to radians, and the integrator limit is now in radians. Does this really make sense or would we rather want to limit its *contribution* to the overall control output?
Because the limit is not disconnected from the contribution. A limit of say 1 can contribute 20 degrees servo deflection or 2 degrees servo deflection, depending on k_i_rate. It doesn't seem to make sense this way.