Diff: Heater.cpp

Revision:

41:b1602c68abcd

Parent:

39:5dffedda7a0d

Child:

42:166d9bc7675e

--- a/Heater.cpp	Mon Sep 30 16:09:43 2019 +0000
+++ b/Heater.cpp	Mon Oct 14 14:15:51 2019 +0000
@@ -46,21 +46,21 @@
         R = cal_a + cal_b*R;  //Convert to Ohms
     }
         
-    //Get error and integrated error values
-    error = R_ref - R;
-    error_integrated += error * (float) thermal.thermal_control_loop_interval_ms;
-
-    //Only allow positive integrated errors and limit change in integrated error
-    //to help avoid integral windup
-     if (abs(error) > thermal.pid_wind_up_limit_ohm) error = error * thermal.pid_wind_up_limit_ohm / abs(error);    
 }
 
 void Heater::update()
 {
+
+    //Get error
+    error = R_ref - R;
+
     //Update PWM from setpoint and resistance
     double duty_cycle = thermal.pid_kp_mho * error;
-    
+
+    //Get integrated error
     if (thermal.pid_integral_time_ms > 0)  // set integral time to zero to have no integral term
+        if (abs(error) > thermal.pid_wind_up_limit_ohm) error = error * thermal.pid_wind_up_limit_ohm / abs(error);    
+        error_integrated += error * (float) thermal.thermal_control_loop_interval_ms;
         duty_cycle += thermal.pid_kp_mho * error_integrated/thermal.pid_integral_time_ms;
     
     if (duty_cycle > thermal.pid_pwm_limit)