Improve PID loops #14373
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Improve PID loops #14373
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Windup guarding was missing. Kludge to act in place of windup guard is removed. D term filter calculations simplified to require fewer float calculations. Sign change for D term output to make debugging output more clear.
Classic and no overshoot take a long time to settle for the bed PID controller.
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temperature.cpp line 812, const? |
Do you see |
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No it doesn't. I was just wondering why the change to const float from float. I assume stylistic? I assume the compiler handles both the same way as the size of the binaries see to be unchanged. |
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Description
Discussion in issue. Summary is that there is a windup guard is added and that the kludge in place of said is removed. The bed PID autotune settings are changed to no overshoot because the other two took a long time to settle. The PID loops D filter calculation is simplified and the sign on the D term output is fixed to make debugging the PID loops make more sense when looking at the output. The sign being reversed on the D term makes reading the output very counter intuitive.
Benefits
This provides a minor improvement to the hotend PID loops. This makes the bed PID loop usable. This also makes the bed PID tuning use the no overshoot setting.
Related Issues
#14192