Fix a bug where the PID controllers D action kicks in hard as soon as the PID controller starts.

11 years ago · a504c88346
parent c6cb93d38c
commit a504c88346
1 changed files with 1 additions and 2 deletions
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@ -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