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tweak pid for less overshoot

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This commit is contained in:
Alessandro Mauri 2026-05-16 18:34:24 +02:00
parent d875568d9a
commit ccdf7e9981
1 changed files with 4 additions and 1 deletions
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5
fw/main.c
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@ -353,7 +353,7 @@ uint16_t pid(int16_t delta, int16_t max_duty)
// PID coefficients // PID coefficients
const fp16_t Kp = num2fp( 1, 1700, 4); const fp16_t Kp = num2fp( 1, 1700, 4);
const fp16_t Ti = num2fp(10, 0000, 4); const fp16_t Ti = num2fp(10, 0000, 4);
const fp16_t Td = num2fp( 0, 700, 4); const fp16_t Td = num2fp( 0, 1500, 4);
static fp16_t err_p, err_i, intgrt, err_d, dt, prev_err; static fp16_t err_p, err_i, intgrt, err_d, dt, prev_err;
static u32 t, prev_t; static u32 t, prev_t;
@ -361,6 +361,9 @@ uint16_t pid(int16_t delta, int16_t max_duty)
t = funSysTick32(); t = funSysTick32();
dt = fp_div(i2fp((t-prev_t)/DELAY_MS_TIME), i2fp(1000)); dt = fp_div(i2fp((t-prev_t)/DELAY_MS_TIME), i2fp(1000));
// if pid was paused, reset the integrator
if (dt > num2fp(0, 2, 1)) intgrt = 0;
fp16_t err = i2fp(delta); // temperature delta as fixed point number fp16_t err = i2fp(delta); // temperature delta as fixed point number
err_p = err; err_p = err;