tweak autoTune

Author: Dlloydev

src/QuickPID.cpp

@@ -296,12 +296,13 @@ byte AutoTunePID::autoTuneLoop() {
       if (*_input > _atSetpoint) {
         _t0 = micros();
         if (_printOrPlotter == 1) Serial.print(F(" t0 →"));
+        _inputLast = *_input;
         _autoTuneStage = T1;
       }
       return AUTOTUNE;
       break;
     case T1: // get t1
-      if (*_input > _atSetpoint + 0.2) {
+      if ((*_input > _atSetpoint) && (*_input > _inputLast)) {
         _t1 = micros();
         if (_printOrPlotter == 1) Serial.print(F(" t1 →"));
         _autoTuneStage = T2;

src/QuickPID.h

@@ -41,7 +41,7 @@ class AutoTunePID {
     bool _printOrPlotter = false;
     uint32_t _tLoop, _tLast, _t0, _t1, _t2, _t3;
     float _outputStep, _hysteresis, _atSetpoint, _atOutput;
-    float _Ku, _Tu, _td, _kp, _ki, _kd, _rdAvg, _peakHigh, _peakLow;
+    float _Ku, _Tu, _td, _kp, _ki, _kd, _rdAvg, _peakHigh, _peakLow, _inputLast;
 
     const uint16_t RulesContants[10][3] =
     { //ckp,  cki, ckd x 1000