- fixed Kalman

brewpi.py

@@ -35,15 +35,16 @@ class TempSensorTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		temp = Value()
+		temp = Value(self.sensor.temperature())
+		self.kalman.initial((temp.get(), 0))
 		while True:
-			Z = self.kalman.process_measurement((self.sensor.temperature(), 0))
+			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.set(round(theta_ist, 1))
 			if temp.is_changed():
-				print("Sensor temp {}".format(temp.get()))
+				print("Sensor temp {}".format(self.sensor.temperature()))
 				await self.send({'Temp': temp.get()})
 			await asyncio.sleep(self.interval)
 
@@ -149,10 +150,9 @@ if __name__ == '__main__':
 		# Kalman Filter
 		kalman_params = {
 			"dt"				: 1.0,
-			"var_P"				: 0,
-			"var_Q"				: 0.000001,
-			"var_R"				: 1,
-			"var_Z"				: 0.0
+			"var_P"				: 0.1,
+			"var_Q"				: 0.001,
+			"var_R"				: 0.1
 		}
 		kalman = kalman.Kalman(kalman_params)
 
@@ -162,7 +162,7 @@ if __name__ == '__main__':
 
 		# Plant
 		pot_params = {
-			"dt"			: 0.1,
+			"dt"			: 1.0,
 			"theta_amb"		: 15,
 			"C"				: 4190,
 			"M"				: 20,
@@ -172,12 +172,12 @@ if __name__ == '__main__':
 		}
 		pot = Pot(pot_params)
 		pot.connect_theta_changed(sensor.set_fake_temp)
-		taskmgr.add(PotTask(pot, 0.1, dispatcher.msgio_get("Pot")))
+		taskmgr.add(PotTask(pot, 1.0, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
 		heater.connect_power_changed(pot.setPower)
-		taskmgr.add(HeaterTask(heater, 0.1, dispatcher.msgio_get("Heater")))
+		taskmgr.add(HeaterTask(heater, 1.0, dispatcher.msgio_get("Heater")))
 
 		h_dispatcher = taskmgr.start()
 		h_server = server.listen("localhost", 8765)