At line 182. Clipping is carried out to limit actuator in range of -45 to 45 deg. However, if we look closely, the clipping action is performed on the sum of gains not on the actuation commands generated by individual control actions.
const float clipped_actuator = constrain_float(pinfo.FF + pinfo.P + pinfo.D + pinfo.DFF + pinfo.I, -45, 45) - pinfo.I;
Can someone explain, why just gains are added in place of adding control actions corresponding to different gains?