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Replace Pid.scale()'s mutable gain factor with a stateless process() arg

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Pid.scale(k) set self.k as persistent state, mutated from outside the
class and never reset in reset(), so a stale scale factor could survive
a state-transition reset. Replace it with a plain scale=1.0 argument on
Pid.process(), and have temp_controller.py/temp_controller_smith.py
compute the heat-rate-overshoot compensation factor themselves and pass
it through process_pid() each tick instead of mutating pid_hold's state.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
jens
2026-06-19 17:37:55 +02:00
co-authored by Claude Sonnet 4.6
parent 519bbd485f
commit 1e89a58370
5 changed files with 20 additions and 26 deletions
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components/pid/temp_controller_base.py
+2 -2
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@@ -106,8 +106,8 @@ class TempControllerBase(APid):
print("New state = {}".format(state_next))
self.on_state_entered(state_next)
def process_pid(self, theta_err, heatrate_err):
self.pid_hold.process(theta_err, -self.theta_ist)
def process_pid(self, theta_err, heatrate_err, hold_scale=1.0):
self.pid_hold.process(theta_err, -self.theta_ist, hold_scale)
self.pid_rate.process(heatrate_err, -self.heatrate_ist)
if self.state == States.IDLE: