ADC Timing alignment bought in

workspace/TS100/src/main.cpp

@@ -842,16 +842,14 @@ void startPIDTask(void const *argument) {
 	 */
 	int32_t integralCount = 0;
 	int32_t derivativeLastValue = 0;
-	int32_t kp, ki, kd, kb;
-	int32_t backoffOverflow = 0;
-	kp = 20;
-	ki = 50;
-	kd = 40;
-	kb = 0;
+	int32_t kp, ki, kd;
+	kp = 80;
+	ki = 120;
+	kd = 60;
 	// REMEBER ^^^^ These constants are backwards
 	// They act as dividers, so to 'increase' a P term, you make the number
 	// smaller.
-	const int32_t itermMax = 40;
+	const int32_t itermMax = 60;
 	for (;;) {
 		uint16_t rawTemp = getTipRawTemp(1);  // get instantaneous reading
 		if (currentlyActiveTemperatureTarget) {
@@ -876,34 +874,27 @@ void startPIDTask(void const *argument) {
 				output += integralCount;
 			if (kd)
 				output -= (dInput / kd);
-			if (kb)
-				output -= backoffOverflow / kb;
 
 			if (output > 100) {
-				backoffOverflow = output;
 				output = 100;  // saturate
 			} else if (output < 0) {
-				backoffOverflow = output;
 				output = 0;
-			} else
-				backoffOverflow = 0;
-			if (currentlyActiveTemperatureTarget < rawTemp) {
-				output = 0;
-				integralCount = 0;
-				backoffOverflow = 0;
-				derivativeLastValue = 0;
 			}
+
+			/*if (currentlyActiveTemperatureTarget < rawTemp) {
+			 output = 0;
+			 }*/
 			setTipPWM(output);
+			derivativeLastValue = rawTemp;  // store for next loop
+
 		} 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);
-		osDelay(100);  // 10 Hz temp loop
+		osDelay(10);  // 100 Hz temp loop
 	}
 }
 #define MOVFilter 8
@@ -1001,11 +992,10 @@ void startRotationTask(void const *argument) {
 	 * This task is used to manage rotation of the LCD screen & button re-mapping
 	 *
 	 */
-	if(PCBVersion==3)
-		{
-			for(;;)
-				osDelay(5000);
-		}
+	if (PCBVersion == 3) {
+		for (;;)
+			osDelay(5000);
+	}
 	switch (systemSettings.OrientationMode) {
 	case 0:
 		lcd.setRotation(false);
@@ -1024,7 +1014,7 @@ void startRotationTask(void const *argument) {
 	for (;;) {
 
 		// a rotation event has occurred
-		uint8_t rotation;
+		uint8_t rotation = 0;
 		if (PCBVersion == 2) {
 			rotation = accel2.getOrientation();
 		} else if (PCBVersion == 1) {