Merge pull request #20 from MageDelfador/master

fix wrong derivative parameters
soloam · Oct 14, 2022 · 2a37512 · 2a37512
2 parents fedc9f5 + 50c4614
commit 2a37512
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/custom_components/pid_controller/pidcontroller.py b/custom_components/pid_controller/pidcontroller.py
@@ -74,17 +74,18 @@ def update(self, feedback_value, in_time=None):
 
         # Calculate error
         error = self._set_point - feedback_value
-
-        # Calculate delta Input
-        delta_input = feedback_value - (
-            self._last_input if self._last_input is not None else feedback_value
+        last_error = self._set_point - (
+            self._last_input if self._last_input is not None else self._set_point
         )
 
+        # Calculate delta error
+        delta_error = error - last_error
+
         # Calculate  terms
         self._p_term = self._kp * error
         self._i_term += self._ki * error * delta_time
         self._i_term = self.clamp_value(self._i_term, self._windup)
-        self._d_term = self._kd * delta_input / delta_time
+        self._d_term = self._kd * delta_error / delta_time
 
         # Compute final output
         self._output = self._p_term + self._i_term + self._d_term