From 420be00407b1acfc253a30f2cdc04b4d585398a2 Mon Sep 17 00:00:00 2001
From: Astro <astro@spaceboyz.net>
Date: Thu, 3 Oct 2019 01:34:53 +0200
Subject: [PATCH] main: fix DEFAULT_PID_PARAMETERS

---
 firmware/src/main.rs | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index 4b0e6a3..04b84a8 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -86,14 +86,17 @@ macro_rules! create_socket {
 
 const VCC: f32 = 3.3;
 
+const PWM_PID_WIDTH: u16 = 0xffff;
+const PWM_MAX: f32 = PWM_PID_WIDTH as f32;
+
 const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
-    kp: 1.0,
-    ki: 1.0,
-    kd: 1.0,
+    kp: 0.5 * PWM_MAX,
+    ki: 0.05 * PWM_MAX,
+    kd: 0.45 * PWM_MAX,
     output_min: 0.0,
-    output_max: 0xffff as f32,
+    output_max: PWM_MAX,
     integral_min: 0.0,
-    integral_max: 0xffff as f32,
+    integral_max: PWM_MAX,
 };
 
 const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters {
@@ -103,8 +106,6 @@ const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters {
     parallel_r: 5_110.0,  // Ohm (TODO: verify)
 };
 
-const PWM_PID_WIDTH: u16 = 0xffff;
-
 // TODO: maybe rename to `TECS`?
 /// Number of TEC channels with four PWM channels each
 pub const CHANNELS: usize = 2;