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Merge remote-tracking branch 'upstream/dev' into magic

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Ben V. Brown
2022-07-25 21:08:00 +10:00
parent a68779307d 543107e48c
commit bab66acaad
22 changed files with 81 additions and 65 deletions
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4
source/Core/Threads/PIDThread.cpp
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@@ -116,8 +116,8 @@ int32_t getPIDResultX10Watts(int32_t setpointDelta) {
static TickType_t lastCall = 0;
static Integrator<int32_t> powerStore = {0};
const int rate = 1000 / (xTaskGetTickCount() - lastCall);
lastCall = xTaskGetTickCount();
const TickType_t rate = 1000 / (xTaskGetTickCount() - lastCall);
lastCall = xTaskGetTickCount();
// Sandman note:
// PID Challenge - we have a small thermal mass that we to want heat up as fast as possible but we don't
// want to overshot excessively (if at all) the setpoint temperature. In the same time we have 'imprecise'