- tempcontroller: added heat rate control

brewpi.py

@@ -33,9 +33,6 @@ class TempSensorTask(ATask):
 	def on_temp_changed(self, value):
 		asyncio.create_task(self.send({'Temp': value}))
 
-	def on_temp_changed_kalman(self, value):
-		pass
-
 	async def recv(self, data):
 		print(data)
 
@@ -44,17 +41,10 @@ class TempSensorTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		self.kalman.initial((self.sensor.temperature(), 0))
 		temp = ValueChanged(self.on_temp_changed, prec=1)
-		temp_kalman = ValueChanged(self.on_temp_changed_kalman, prec=1)
 		self.sensor.set_on_changed("temp", temp.set)
 		while True:
 			self.sensor.process()
-			Z = self.kalman.process_measurement((self.sensor.temperature(), 0), 0)
-			xp = self.kalman.process(Z)
-			theta_ist = xp[0, 0]
-			heatrate_ist = xp[1, 0] * 60
-			temp_kalman.set(theta_ist)
 			await asyncio.sleep(self.interval)
 
 
@@ -190,12 +180,11 @@ if __name__ == '__main__':
 
 		# Kalman Filter
 		kalman_params = {
-			"dt"				: 1.0,
-			"var_P"				: 0.1,
-			"var_Q"				: 0.001,
-			"var_R"				: 0.1
+			"dt"		: 1.0,
+			"var_P"		: 1,
+			"var_Q"		: 0.0001,
+			"var_R"		: 1
 		}
-		kalman = kalman.Kalman(kalman_params)
 
 		# Sensor
 		sensor = TempSensorSim()
@@ -226,23 +215,23 @@ if __name__ == '__main__':
 			"dt": 1.0,
 			"Hold": {
 				"Pid": {
-					"kp": 0.8,
-					"ki": 0.008,
+					"kp": 0.5,
+					"ki": 0.005,
 					"kd": 0.0,
 					"rho": 1.0
 				}
 			},
 			"Heat": {
 				"Pid": {
-					"kp": 0.002,
-					"ki": 0.0002,
+					"kp": 0.1,
+					"ki": 0.01,
 					"kd": 0.0,
 					"rho": 1.0
 				}
 			}
 		}
-		tc = temp_controller.TempController(tc_params)
-		tc.set_on_changed("y_hold", heater_task.actor)
+		tc = temp_controller.TempController(tc_params, kalman_params)
+		tc.set_on_changed("y", heater_task.actor)
 		tc_task = TcTask(tc, TC_DT, dispatcher.msgio_get("TempCtrl"))
 		taskmgr.add(tc_task)
 		sensor.set_on_changed("temp", ValueChanged(tc.set_theta_ist, prec=2).set)