heater.c: Limit PID I term with conditional integration.
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@ -455,7 +455,14 @@ void manage_heater()
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//K1 defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
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pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output=PID_MAX;
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} else if (pid_output < 0){
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if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output=0;
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}
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}
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temp_dState[e] = pid_input;
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#else
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