- Pid: D-Part need not to be error based

- increased pot delay to 30 s

components/pid/pid.py

@@ -9,7 +9,7 @@ class Pid:
         self.yi = 0
 
         # Differentiator
-        self.err = 0
+        self.d = 0
 
         # Anti windup
         self.y_min = -1.0
@@ -29,10 +29,10 @@ class Pid:
 
     def reset(self):
         self.yi = 0
-        self.err = 0
+        self.d = 0
         self.awu = 0
 
-    def process(self, err):
+    def process(self, err, d):
         dt = self.params['dt']
         kp = self.params['kp'] * self.k
         ki = self.params['ki'] * self.k
@@ -40,10 +40,10 @@ class Pid:
         kt = self.params['kt'] * self.k
 
         self.yi = self.yi + ki*dt * err + kt*dt * self.awu
-        yd = kd/dt*(err - self.err)
+        yd = kd/dt*(d - self.d)
         yp = kp * err
 
-        self.err = err
+        self.d = d
 
         y = yp + self.yi + yd