PID logging: p term #4337

firmware/console/binary/output_channels.txt

@@ -240,6 +240,7 @@ uint16_t rpmAcceleration;dRPM;"RPM/s",1, 0, 0, 5, 0
 	int8_t[4 iterate] autoscale vvtTargets;;"deg",1, 0, 0, 0, 0
 	uint16_t turboSpeed;@@GAUGE_NAME_TURBO_SPEED@@;"hz",1, 0, 0, 0, 0
 
+! fun fact: we have a separate pid_state.txt file for a bit of a different structure huh?
     struct pid_status_s
     	float autoscale pTerm;;"", 1, 0, -50000, 50000, 2
     	int16_t autoscale iTerm;;"", 0.01, 0, -327, 327, 2

firmware/util/math/efi_pid.cpp

@@ -137,7 +137,8 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) const {
 
 void Pid::postState(pid_status_s& pidStatus) const {
 	pidStatus.output = output;
-	pidStatus.error = getPrevError();
+	pidStatus.error = previousError;
+	pidStatus.pTerm = parameters == nullptr ? 0 : parameters->pFactor * previousError;
 	pidStatus.iTerm = iTerm;
 	pidStatus.dTerm = dTerm;
 }

firmware/util/math/efi_pid.h

@@ -69,7 +69,7 @@ public:
 	float iTermMin = -1000000.0;
 	float iTermMax =  1000000.0;
 protected:
-	pid_s *parameters;
+	pid_s *parameters = nullptr;
 	virtual void updateITerm(float value);
 };
 

firmware/util/math/pid_state.txt

@@ -1,5 +1,4 @@
 struct_no_prefix pid_state_s
-	float pTerm;
 	float iTerm;
 	float dTerm;we are remembering this only for debugging purposes
 	float target;only used for logging