- Controller have integrator on power level

- improved integral part in PID

git-svn-id: http://moon:8086/svn/projects/HendiControl@268 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pid.py

@@ -11,7 +11,7 @@ class Pid():
 
         # Auto windup
         self.y_min = 0.0
-        self.y_max = 500.0
+        self.y_max = 2.0
         self.diff_aw = 0.0
 
         # Output
@@ -35,7 +35,7 @@ class Pid():
         rho = params['rho']
 
         err_aw = err + self.diff_aw
-        yi = rho*self.yi + err_aw
+        yi = rho*self.yi + ki*dt * err_aw
 
         if derr:
             yd = derr
@@ -43,7 +43,7 @@ class Pid():
             yd = err - self.xd
 
         _yp = kp * err
-        _yi = ki*dt * yi
+        _yi = yi
         _yd = kd/dt * yd
 
         self.y = _yp + _yi + _yd