Drop model_params from base, enable Smith predictor delay correction

TempControllerBase no longer threads model_params through (only the
Smith subclass needs it, for its own Pot model and Kalman filters).

Enable the Smith predictor's actual delay-compensated error term
(theta_err now uses theta_ist_plant - theta_ist_model_delay +
theta_ist_model instead of the plain plant reading), which is the
correction this controller is named for.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

components/pid/temp_controller.py

@@ -7,8 +7,8 @@ import numpy as np
 
 
 class TempController(TempControllerBase):
-	def __init__(self, dt, params, model_params=None):
+	def __init__(self, dt, params):
-		TempControllerBase.__init__(self, dt, params, model_params)
+		TempControllerBase.__init__(self, dt, params)
 		self.kalman = Kalman(dt, params['Kalman'])
 
 	def init_kalman(self, value):

components/pid/temp_controller_base.py

@@ -5,7 +5,7 @@ from components.pid.tc_constants import States, THRESH_HOLD_IDLE, THRESH_HOLD_HE
 
 
 class TempControllerBase(APid):
-	def __init__(self, dt, params, model_params=None):
+	def __init__(self, dt, params):
 		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
@@ -17,7 +17,6 @@ class TempControllerBase(APid):
 		self.theta_ist = 0
 		self.heatrate_ist = 0
 		self.params = params
-		self.model_params = model_params
 		self.y = -1
 		self.state = States.INIT
 		self.use_kalman = True

components/pid/temp_controller_smith.py

@@ -8,7 +8,7 @@ import numpy as np
 
 class TempController(TempControllerBase):
 	def __init__(self, dt, params, model_params):
-		TempControllerBase.__init__(self, dt, params, model_params)
+		TempControllerBase.__init__(self, dt, params)
 		self.kalman_model = Kalman(dt, params['Kalman'])
 		self.kalman_model_delay = Kalman(dt, params['Kalman'])
 		self.kalman_plant = Kalman(dt, params['Kalman'])
@@ -72,7 +72,7 @@ class TempController(TempControllerBase):
 
 		self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
 
-		if 0:
+		if 1:
 			theta_err = self.theta_soll_set - (theta_ist_plant - theta_ist_model_delay + theta_ist_model)
 		else:
 			theta_err = self.theta_soll_set - theta_ist_plant