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Remove setpoint-change from error when calculating derivative in pid controller (#4737)

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Co-authored-by: Mathias Pihl <mapih@frode-laursen.com>
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Mathias Pihl
2023-12-13 00:50:55 +01:00
committed by GitHub
parent 8789925fe8
commit 69026f7599
2 changed files with 10 additions and 4 deletions
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esphome/components/pid/pid_controller.h
+2 -1
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@@ -49,12 +49,13 @@ struct PIDController {
void calculate_proportional_term_();
void calculate_integral_term_();
void calculate_derivative_term_();
void calculate_derivative_term_(float setpoint);
float weighted_average_(std::deque<float> &list, float new_value, int samples);
float calculate_relative_time_();
/// Error from previous update used for derivative term
float previous_error_ = 0;
float previous_setpoint_ = NAN;
/// Accumulated integral value
float accumulated_integral_ = 0;
uint32_t last_time_ = 0;