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Fix a bug where the PID controllers D action kicks in hard as soon as the PID controller starts.

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daid 2013-08-01 14:12:30 +02:00
parent c6cb93d38c
commit a504c88346
1 changed files with 1 additions and 2 deletions
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3
Marlin/temperature.cpp
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@ -436,10 +436,9 @@ void manage_heater()
//K1 defined in Configuration.h in the PID settings //K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
temp_dState[e] = pid_input;
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX); pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
} }
temp_dState[e] = pid_input;
#else #else
pid_output = constrain(target_temperature[e], 0, PID_MAX); pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP #endif //PID_OPENLOOP