Compute slope on first task start instead of init so that driver is initialized.

src/opalib_pid_current_mode.c

@@ -167,8 +167,6 @@ void opalib_pid_current_init(double setpoint, double p_i, double i_i, double d_i
 	p = p_i;
 	i = i_i;
 	d = d_i;
-
-	_opalib_pid_current_compute_slope();
 }
 
 void opalib_pid_current_update_setpoint(double setpoint)
@@ -180,6 +178,13 @@ void opalib_pid_current_update_setpoint(double setpoint)
 
 void opalib_pid_current_periodic_task()
 {
+	static uint8_t first_run = 1;
+	if  (first_run == 1)
+	{
+		_opalib_pid_current_compute_slope();
+		first_run = 0;
+	}
+
 	_opalib_pid_current_acquire_dac_values();
 	_opalib_pid_current_compute_reset_value();
 	_opalib_pid_current_update_reset_value();