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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_smith.py
+2 -3
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@@ -50,8 +50,7 @@ class TempController(TempControllerBase):
self.last_theta_ist = self.theta_ist
# Compensate for max heat rate to reduce overshoot
if self.heatrate_soll_set > 0:
self.pid_hold.scale(1.0/self.heatrate_soll_set)
hold_scale = 1.0/self.heatrate_soll_set if self.heatrate_soll_set > 0 else 1.0
self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
theta_err = self.theta_soll_set - self.theta_ist
@@ -59,4 +58,4 @@ class TempController(TempControllerBase):
diff = self.theta_soll_set - self.theta_ist
self.process_fsm(diff)
self.process_pid(theta_err, heatrate_err)
self.process_pid(theta_err, heatrate_err, hold_scale)