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Prevent PID winding up on lower temps

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Should help with #116
This commit is contained in:
Ben V. Brown
2017-12-12 11:55:56 +11:00
parent c5c89a516e
commit 5b4ed06013
1 changed files with 7 additions and 1 deletions
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8
workspace/TS100/src/main.cpp
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@@ -880,12 +880,18 @@ void startPIDTask(void const * argument) {
output = 0;
} else
backoffOverflow = 0;
if (currentlyActiveTemperatureTarget < rawTemp) {
output = 0;
integralCount = 0;
backoffOverflow = 0;
derivativeLastValue = 0;
}
setTipPWM(output);
} else {
setTipPWM(0); //disable the output driver if the output is set to be off elsewhere
integralCount = 0;
backoffOverflow = 0;
derivativeLastValue = 0;
}
derivativeLastValue = rawTemp; //store for next loop
HAL_IWDG_Refresh(&hiwdg);