diff --git a/pid.cc b/pid.cc
index 0f5e92f..2a58e2f 100644
--- a/pid.cc
+++ b/pid.cc
@@ -130,6 +130,7 @@ void PID::SetParam (double mi, double ma, double p, double i, double d) {
 	Kd = d;
 	Min = mi;
 	Max = ma;
+	Start();
 };