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Derivative calculation was wrong all along #40

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sb10q merged 1 commits from pid_hotfix into master 2020-12-29 17:09:04 +08:00
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topquark12 commented 2020-12-29 17:06:43 +08:00
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Derivative should be (error - last_error), but because we're using input to calculate derivative to prevent kick, and the relationship between error and input is (error = target - input), using input for derivative caluculation means it should be calculated as (last_input-input).

Derivative should be (error - last_error), but because we're using input to calculate derivative to prevent kick, and the relationship between error and input is (error = target - input), using input for derivative caluculation means it should be calculated as (last_input-input).
sb10q merged commit e94601f54f into master 2020-12-29 17:09:04 +08:00
topquark12 deleted branch pid_hotfix 2020-12-29 17:30:29 +08:00
astro commented 2020-12-30 00:40:26 +08:00
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The PID controller implementation was taken in verbatim from Ionpak. Maybe it might make sense to backport some fixes.

The PID controller implementation was taken in verbatim from Ionpak. Maybe it might make sense to backport some fixes.
sb10q commented 2020-12-30 13:10:58 +08:00
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Yes, ionpak generally needs an overhaul regarding this and a long list of other problems. I'm planning to look into it at some point.

Yes, ionpak generally needs an overhaul regarding this and a long list of other problems. I'm planning to look into it at some point.
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Reference: M-Labs/thermostat#40
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