Update

Fixed sign of derivative terms (issue #29)
Dlloydev · Sep 25, 2021 · fb6297e · fb6297e
1 parent 91b639f
commit fb6297e
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/library.json b/library.json
@@ -1,6 +1,6 @@
 {
   "name": "QuickPID",
-  "version": "2.4.7",
+  "version": "2.4.8",
   "description": "A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement. Also includes analogWrite compatibility for ESP32 and ESP32-S2.",
   "keywords": "PID, controller, signal",
   "repository":

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=QuickPID
-version=2.4.7
+version=2.4.8
 author=David Lloyd
 maintainer=David Lloyd <dlloydev@testcor.ca>
 sentence=A fast PID controller with AutoTune dynamic object, 10 tuning rules, Integral anti-windup, TIMER Mode and mixing of Proportional and Derivative on Error to Measurement.

diff --git a/src/QuickPID.cpp b/src/QuickPID.cpp
@@ -1,5 +1,5 @@
 /**********************************************************************************
-   QuickPID Library for Arduino - Version 2.4.7
+   QuickPID Library for Arduino - Version 2.4.8
    by dlloydev https://github.com/Dlloydev/QuickPID
    Based on the Arduino PID Library and work on AutoTunePID class
    by gnalbandian (Gonzalo). Licensed under the MIT License.
@@ -63,14 +63,14 @@ bool QuickPID::Compute() {
     peTerm = kpe * error;
     iTerm = ki * error;
     dmTerm = kdm * dInput;
-    deTerm = -kde * error;
+    deTerm = kde * error;
 
     outputSum += iTerm;                                                           // include integral amount
     if (outputSum > outMax) outputSum -= outputSum - outMax;                      // early integral anti-windup at outMax
     else if (outputSum < outMin) outputSum += outMin - outputSum;                 // early integral anti-windup at outMin
     outputSum = constrain(outputSum, outMin, outMax);                             // integral anti-windup clamp
     outputSum = constrain(outputSum - pmTerm, outMin, outMax);                    // include pmTerm and clamp
-    *myOutput = constrain(outputSum + peTerm + dmTerm - deTerm, outMin, outMax);  // totalize, clamp and drive the output
+    *myOutput = constrain(outputSum + peTerm - dmTerm + deTerm, outMin, outMax);  // totalize, clamp and drive the output
 
     lastInput = input;
     lastTime = now;