From 7e7c1bb9df331fa77fa84804add2f9949df70274 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Thu, 4 Apr 2019 22:58:25 +0000
Subject: [PATCH] - cleaned up parameter

git-svn-id: http://moon:8086/svn/projects/HendiControl@233 fda53097-d464-4ada-af97-ba876c37ca34
---
 Control/brewpi/brewpi.json.templ | 53 ++++++++++++++++----------------
 Control/brewpi/controller.py     |  8 ++---
 2 files changed, 31 insertions(+), 30 deletions(-)

diff --git a/Control/brewpi/brewpi.json.templ b/Control/brewpi/brewpi.json.templ
index 6283139..d80833d 100644
--- a/Control/brewpi/brewpi.json.templ
+++ b/Control/brewpi/brewpi.json.templ
@@ -3,11 +3,8 @@
 	"Controller" :
 	{
 		"dt"				: 1.0,
-		"cont_ctrl"			: true,
 		"P_min"				: 0,
-		"P_max"				: 3000,
-		"P_q_W"				: 100,
-		"theta_lock_K"		: 0.5,
+		"P_max"				: 3500,
 		"sim_warp_factor"	: 1.0,
 		"stirrer_name"      : "Stirrer",
 		"plant_name"        : "Mass",
@@ -15,43 +12,47 @@
 		"kalman" 			: {
 			"dt"				: 1,
 			"var_P"				: 0,
-			"var_Q"				: 0.0001,
+			"var_Q"				: 0.000001,
 			"var_R"				: 1,
-			"var_Z"				: 0
+			"var_Z"				: 0.0
 			},
 		"Hold" : {
 			"Acqu": {
+				"thresh_leave"	: 1.0,
 				"Pid" : {
-					"kp"	: 4,
-					"ki"	: 0.01,
-					"kd"	: 400,
-					"rho"	: 0.999
-				}
-			},
+					"kp"	: 0.4,
+					"ki"	: 0.002,
+					"kd"	: 0.1,
+					"rho"	: 0.9999
+					}
+				},
 			"Track": {
+				"thresh_leave"	: 1.5,
 				"Pid" : {
-					"kp"	: 4,
-					"ki"	: 0.01,
-					"kd"	: 400,
-					"rho"	: 0.999
+					"kp"	: 0.4,
+					"ki"	: 0.002,
+					"kd"	: 0.2,
+					"rho"	: 0.9999
 				}
 			}
 		},
 		"Heat" : {
 			"Acqu": {
+				"thresh_leave"	: 0.25,
 				"Pid" : {
-					"kp"	: 4,
-					"ki"	: 0.02,
-					"kd"	: 4,
-					"rho"	: 0.999
+					"kp"	: 0.4,
+					"ki"	: 0.004,
+					"kd"	: 0.05,
+					"rho"	: 0.9999
 				}
 			},
 			"Track": {
+				"thresh_leave"	: 0.5,
 				"Pid" : {
-					"kp"	: 1,
-					"ki"	: 0.02,
-					"kd"	: 4,
-					"rho"	: 0.999
+					"kp"	: 0.2,
+					"ki"	: 0.004,
+					"kd"	: 0.05,
+					"rho"	: 0.9999
 				}
 			}
 		}
@@ -64,8 +65,8 @@
 		"C"				: 4190,
 		"M"				: 20,
 		"L"				: 0.3,
-		"Td"			: 60,
-		"kn"			: 0
+		"Td"			: 30,
+		"kn"			: 0.2
 	},
 
 	"Stirrer" :
diff --git a/Control/brewpi/controller.py b/Control/brewpi/controller.py
index 017e548..b7063cc 100644
--- a/Control/brewpi/controller.py
+++ b/Control/brewpi/controller.py
@@ -197,8 +197,8 @@ class Controller():
 				pid_err = ctrl_heatrate_err
 				pid_params_acqu = self.params['Heat']['Acqu']['Pid']
 				pid_params_track = self.params['Heat']['Track']['Pid']
-				pid_thresh_acqu = 0.2
-				pid_thresh_track = 0.5
+				pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
+				pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
 				if (ctrl_theta + 1.0) >= theta_soll:
 					ovenStateNext = ovenStates.HOLD
 					self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60))
@@ -208,8 +208,8 @@ class Controller():
 				pid_err = ctrl_theta_err
 				pid_params_acqu = self.params['Hold']['Acqu']['Pid']
 				pid_params_track = self.params['Hold']['Track']['Pid']
-				pid_thresh_acqu = 0.2
-				pid_thresh_track = 0.5
+				pid_thresh_acqu = self.params['Heat']['Acqu']['thresh_leave']
+				pid_thresh_track = self.params['Heat']['Track']['thresh_leave']
 				if self.timer_ist == 0:
 					ovenStateNext = ovenStates.NOP
 					doLoop = False