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Fix a bug where the PID controllers D action kicks in hard as soon as…
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… the PID controller starts.
daid committed Aug 1, 2013
1 parent c6cb93d commit a504c88
Showing 1 changed file with 1 addition and 2 deletions.
3 changes: 1 addition & 2 deletions Marlin/temperature.cpp
Original file line number Diff line number Diff line change
@@ -436,10 +436,9 @@ void manage_heater()
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
temp_dState[e] = pid_input;

pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
}
temp_dState[e] = pid_input;
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP

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