From d35ea81080fcd7fc62d9707ba5b946d817d4a74e Mon Sep 17 00:00:00 2001
From: Yurii <laxilef@gmail.com>
Date: Thu, 18 Apr 2024 00:04:23 +0300
Subject: [PATCH] fix: PID optimization, correction of default PID settings

---
 src/HaHelper.h         |  2 +-
 src/RegulatorTask.h    | 29 ++++++++++++++++++++++++-----
 src/Settings.h         |  6 +++---
 src/utils.h            |  4 ++--
 src_data/settings.html |  2 +-
 5 files changed, 31 insertions(+), 12 deletions(-)

diff --git a/src/HaHelper.h b/src/HaHelper.h
index d4bebb8..a9928b4 100644
--- a/src/HaHelper.h
+++ b/src/HaHelper.h
@@ -623,7 +623,7 @@ public:
     doc[FPSTR(HA_NAME)] = F("PID factor I");
     doc[FPSTR(HA_ICON)] = F("mdi:alpha-i-circle-outline");
     doc[FPSTR(HA_STATE_TOPIC)] = this->getDeviceTopic(F("settings"));
-    doc[FPSTR(HA_VALUE_TEMPLATE)] = F("{{ value_json.pid.i_factor|float(0)|round(3) }}");
+    doc[FPSTR(HA_VALUE_TEMPLATE)] = F("{{ value_json.pid.i_factor|float(0)|round(4) }}");
     doc[FPSTR(HA_COMMAND_TOPIC)] = this->getDeviceTopic(F("settings/set"));
     doc[FPSTR(HA_COMMAND_TEMPLATE)] = F("{\"pid\": {\"i_factor\" : {{ value }}}}");
     doc[FPSTR(HA_MIN)] = 0;
diff --git a/src/RegulatorTask.h b/src/RegulatorTask.h
index b6d9c84..0309aae 100644
--- a/src/RegulatorTask.h
+++ b/src/RegulatorTask.h
@@ -133,7 +133,7 @@ protected:
       prevHeatingTarget = settings.heating.target;
       Log.sinfoln(FPSTR(L_REGULATOR), F("New target: %.2f"), settings.heating.target);
 
-      if (settings.equitherm.enable && settings.pid.enable) {
+      if (/*settings.equitherm.enable && */settings.pid.enable) {
         pidRegulator.integral = 0;
         Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
       }
@@ -167,6 +167,7 @@ protected:
           newTemp += pidResult;
 
           Log.sinfoln(FPSTR(L_REGULATOR_PID), F("New result: %hhd (%.2f)"), (int8_t) round(pidResult), pidResult);
+          Log.straceln(FPSTR(L_REGULATOR_PID), F("Integral: %.2f"), pidRegulator.integral);
 
         } else {
           newTemp += prevPidResult;
@@ -174,6 +175,10 @@ protected:
       } else {
         newTemp += prevPidResult;
       }
+
+    } else if (pidRegulator.integral != 0) {
+        pidRegulator.integral = 0;
+        Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
     }
 
     // default temp, manual mode
@@ -327,9 +332,23 @@ protected:
   }
 
   float getPidTemp(int minTemp, int maxTemp) {
-    pidRegulator.Kp = settings.pid.p_factor;
-    pidRegulator.Ki = settings.pid.i_factor;
-    pidRegulator.Kd = settings.pid.d_factor;
+    if (fabs(pidRegulator.Kp - settings.pid.p_factor) >= 0.0001f) {
+      pidRegulator.Kp = settings.pid.p_factor;
+      pidRegulator.integral = 0;
+      Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
+    }
+
+    if (fabs(pidRegulator.Ki - settings.pid.i_factor) >= 0.0001f) {
+      pidRegulator.Ki = settings.pid.i_factor;
+      pidRegulator.integral = 0;
+      Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
+    }
+
+    if (fabs(pidRegulator.Kd - settings.pid.d_factor) >= 0.0001f) {
+      pidRegulator.Kd = settings.pid.d_factor;
+      pidRegulator.integral = 0;
+      Log.sinfoln(FPSTR(L_REGULATOR_PID), F("Integral sum has been reset"));
+    }
 
     pidRegulator.setLimits(minTemp, maxTemp);
     pidRegulator.setDt(settings.pid.dt * 1000u);
@@ -342,7 +361,7 @@ protected:
   float tuneEquithermN(float ratio, float currentTemp, float setTemp, unsigned int dirtyInterval = 60, unsigned int accurateInterval = 1800, float accurateStep = 0.01, float accurateStepAfter = 1) {
     static uint32_t _prevIteration = millis();
 
-    if (abs(currentTemp - setTemp) < accurateStepAfter) {
+    if (fabs(currentTemp - setTemp) < accurateStepAfter) {
       if (millis() - _prevIteration < (accurateInterval * 1000)) {
         return ratio;
       }
diff --git a/src/Settings.h b/src/Settings.h
index ec5dcf3..ff54095 100644
--- a/src/Settings.h
+++ b/src/Settings.h
@@ -101,9 +101,9 @@ struct Settings {
 
   struct {
     bool enable = false;
-    float p_factor = 50;
-    float i_factor = 0.006f;
-    float d_factor = 10000;
+    float p_factor = 2;
+    float i_factor = 0.0055f;
+    float d_factor = 0;
     unsigned short dt = 180;
     byte minTemp = 0;
     byte maxTemp = DEFAULT_HEATING_MAX_TEMP;
diff --git a/src/utils.h b/src/utils.h
index 2a773b9..7c5b4ee 100644
--- a/src/utils.h
+++ b/src/utils.h
@@ -384,7 +384,7 @@ void settingsToJson(const Settings& src, JsonVariant dst, bool safe = false) {
 
   dst["pid"]["enable"] = src.pid.enable;
   dst["pid"]["p_factor"] = roundd(src.pid.p_factor, 3);
-  dst["pid"]["i_factor"] = roundd(src.pid.i_factor, 3);
+  dst["pid"]["i_factor"] = roundd(src.pid.i_factor, 4);
   dst["pid"]["d_factor"] = roundd(src.pid.d_factor, 1);
   dst["pid"]["dt"] = src.pid.dt;
   dst["pid"]["minTemp"] = src.pid.minTemp;
@@ -836,7 +836,7 @@ bool jsonToSettings(const JsonVariantConst src, Settings& dst, bool safe = false
     double value = src["pid"]["i_factor"].as<double>();
 
     if (value >= 0 && value <= 100) {
-      dst.pid.i_factor = roundd(value, 3);
+      dst.pid.i_factor = roundd(value, 4);
       changed = true;
     }
   }
diff --git a/src_data/settings.html b/src_data/settings.html
index d62c852..5c11336 100644
--- a/src_data/settings.html
+++ b/src_data/settings.html
@@ -315,7 +315,7 @@
 
               <label for="pid-i-factor">
                 I factor
-                <input type="number" inputmode="numeric" id="pid-i-factor" name="pid[i_factor]" min="0" max="100" step="0.001" required>
+                <input type="number" inputmode="numeric" id="pid-i-factor" name="pid[i_factor]" min="0" max="100" step="0.0001" required>
               </label>
 
               <label for="pid-d-factor">