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[pid] Combine log statements to reduce loop blocking (#12942)

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This commit is contained in:
J. Nick Koston
2026-01-04 16:04:50 -10:00
committed by GitHub
parent 0b9fcf9ed3
commit a635c82830
1 changed files with 39 additions and 28 deletions
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67
esphome/components/pid/pid_autotuner.cpp
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@@ -138,20 +138,21 @@ PIDAutotuner::PIDAutotuneResult PIDAutotuner::update(float setpoint, float proce
}
void PIDAutotuner::dump_config() {
if (this->state_ == AUTOTUNE_SUCCEEDED) {
ESP_LOGI(TAG, "%s: PID Autotune:", this->id_.c_str());
ESP_LOGI(TAG, " State: Succeeded!");
ESP_LOGI(TAG,
"%s: PID Autotune:\n"
" State: Succeeded!",
this->id_.c_str());
bool has_issue = false;
if (!this->amplitude_detector_.is_amplitude_convergent()) {
ESP_LOGW(TAG, " Could not reliably determine oscillation amplitude, PID parameters may be inaccurate!");
ESP_LOGW(TAG, " Please make sure you eliminate all outside influences on the measured temperature.");
ESP_LOGW(TAG, " Could not reliably determine oscillation amplitude, PID parameters may be inaccurate!\n"
" Please make sure you eliminate all outside influences on the measured temperature.");
has_issue = true;
}
if (!this->frequency_detector_.is_increase_decrease_symmetrical()) {
ESP_LOGW(TAG, " Oscillation Frequency is not symmetrical. PID parameters may be inaccurate!");
ESP_LOGW(
TAG,
" This is usually because the heat and cool processes do not change the temperature at the same rate.");
ESP_LOGW(TAG,
" Oscillation Frequency is not symmetrical. PID parameters may be inaccurate!\n"
" This is usually because the heat and cool processes do not change the temperature at the same "
"rate.\n"
" Please try reducing the positive_output value (or increase negative_output in case of a cooler)");
has_issue = true;
}
@@ -160,18 +161,23 @@ void PIDAutotuner::dump_config() {
}
auto fac = get_ziegler_nichols_pid_();
ESP_LOGI(TAG, " Calculated PID parameters (\"Ziegler-Nichols PID\" rule):");
ESP_LOGI(TAG, " ");
ESP_LOGI(TAG, " control_parameters:");
ESP_LOGI(TAG, " kp: %.5f", fac.kp);
ESP_LOGI(TAG, " ki: %.5f", fac.ki);
ESP_LOGI(TAG, " kd: %.5f", fac.kd);
ESP_LOGI(TAG, " ");
ESP_LOGI(TAG, " Please copy these values into your YAML configuration! They will reset on the next reboot.");
ESP_LOGI(TAG,
" Calculated PID parameters (\"Ziegler-Nichols PID\" rule):\n"
"\n"
" control_parameters:\n"
" kp: %.5f\n"
" ki: %.5f\n"
" kd: %.5f\n"
"\n"
" Please copy these values into your YAML configuration! They will reset on the next reboot.",
fac.kp, fac.ki, fac.kd);
ESP_LOGV(TAG, " Oscillation Period: %f", this->frequency_detector_.get_mean_oscillation_period());
ESP_LOGV(TAG, " Oscillation Amplitude: %f", this->amplitude_detector_.get_mean_oscillation_amplitude());
ESP_LOGV(TAG, " Ku: %f, Pu: %f", this->ku_, this->pu_);
ESP_LOGV(TAG,
" Oscillation Period: %f\n"
" Oscillation Amplitude: %f\n"
" Ku: %f, Pu: %f",
this->frequency_detector_.get_mean_oscillation_period(),
this->amplitude_detector_.get_mean_oscillation_amplitude(), this->ku_, this->pu_);
ESP_LOGD(TAG, " Alternative Rules:");
// http://www.mstarlabs.com/control/znrule.html
@@ -183,13 +189,16 @@ void PIDAutotuner::dump_config() {
}
if (this->state_ == AUTOTUNE_RUNNING) {
ESP_LOGD(TAG, "%s: PID Autotune:", this->id_.c_str());
ESP_LOGD(TAG, " Autotune is still running!");
ESP_LOGD(TAG, " Status: Trying to reach %.2f °C", setpoint_ - relay_function_.current_target_error());
ESP_LOGD(TAG, " Stats so far:");
ESP_LOGD(TAG, " Phases: %" PRIu32, relay_function_.phase_count);
ESP_LOGD(TAG, " Detected %zu zero-crossings", frequency_detector_.zerocrossing_intervals.size());
ESP_LOGD(TAG, " Current Phase Min: %.2f, Max: %.2f", amplitude_detector_.phase_min,
ESP_LOGD(TAG,
"%s: PID Autotune:\n"
" Autotune is still running!\n"
" Status: Trying to reach %.2f °C\n"
" Stats so far:\n"
" Phases: %" PRIu32 "\n"
" Detected %zu zero-crossings\n"
" Current Phase Min: %.2f, Max: %.2f",
this->id_.c_str(), setpoint_ - relay_function_.current_target_error(), relay_function_.phase_count,
frequency_detector_.zerocrossing_intervals.size(), amplitude_detector_.phase_min,
amplitude_detector_.phase_max);
}
}
@@ -205,8 +214,10 @@ PIDAutotuner::PIDResult PIDAutotuner::calculate_pid_(float kp_factor, float ki_f
}
void PIDAutotuner::print_rule_(const char *name, float kp_factor, float ki_factor, float kd_factor) {
auto fac = calculate_pid_(kp_factor, ki_factor, kd_factor);
ESP_LOGD(TAG, " Rule '%s':", name);
ESP_LOGD(TAG, " kp: %.5f, ki: %.5f, kd: %.5f", fac.kp, fac.ki, fac.kd);
ESP_LOGD(TAG,
" Rule '%s':\n"
" kp: %.5f, ki: %.5f, kd: %.5f",
name, fac.kp, fac.ki, fac.kd);
}
// ================== RelayFunction ==================