Cleanup PID initialisations

corrections.ino

@@ -16,6 +16,14 @@ Flood clear mode etc.
 #include "corrections.h"
 #include "globals.h"
 
+long PID_O2, PID_output, PID_AFRTarget;
+PID egoPID(&PID_O2, &PID_output, &PID_AFRTarget, configPage3.egoKP, configPage3.egoKI, configPage3.egoKD, REVERSE); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
+
+void initialiseCorrections()
+{
+  egoPID.SetMode(AUTOMATIC); //Turn O2 PID on
+}
+
 /*
 correctionsTotal() calls all the other corrections functions and combines their results.
 This is the only function that should be called from anywhere outside the file
@@ -207,8 +215,6 @@ This continues until either:
 PID (Best suited to wideband sensors):
  
 */
-long PID_O2, PID_output, PID_AFRTarget;
-PID egoPID(&PID_O2, &PID_output, &PID_AFRTarget, configPage3.egoKP, configPage3.egoKI, configPage3.egoKD, REVERSE); //This is the PID object if that algorithm is used. Needs to be global as it maintains state outside of each function call
 
 byte correctionsAFRClosedLoop()
 {

idle.ino

@@ -73,6 +73,7 @@ void initialiseIdle()
       idle_pwm_max_count = 1000000L / (16 * configPage3.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
       idlePID.SetOutputLimits(0, idle_pwm_max_count);
       TIMSK4 |= (1 << OCIE4C); //Turn on the C compare unit (ie turn on the interrupt)
+      idlePID.SetMode(AUTOMATIC); //Turn PID on
       break;
       
     case 4:

speeduino.ino

@@ -216,6 +216,7 @@ void setup()
   initialiseIdle();
   initialiseFan();
   initialiseAuxPWM();
+  initialiseCorrections();
   
   //Once the configs have been loaded, a number of one time calculations can be completed
   req_fuel_uS = configPage1.reqFuel * 100; //Convert to uS and an int. This is the only variable to be used in calculations