低温模式下，当当前温度大大低于目标温度时，增大hp

HARDWARE/PID.c

@@ -60,7 +60,7 @@ void PID_Init()
 	pid.hd_h = 0;
 	pid.h_base_h = 0;
 
-	pid.hp_l = 4.5;
+	pid.hp_l = 9;
 	pid.hi_l = 0.01;
 	pid.hd_l = 0;
 	pid.h_base_l = 10;
@@ -209,12 +209,18 @@ void PID_Calc() // pid calc
 		// if (pid.set_tem - pid.now_tem < 3) {
 		// 	pid.hp = pid.hp_l * 0.6;
 		// }
-		if (pid.set_tem - pid.now_tem < 2) {
-			pid.hp = pid.hp_l * 0.5;
-		}
 		if (abs(pid.out_tem) > 1e-5) {
 			// hp_l = 3
-			pid.hp = -0.02 * pid.hp_l * (pid.out_tem - pid.set_tem) + pid.hp_l;
+			// pid.hp = -0.02 * pid.hp_l * (pid.out_tem - pid.set_tem) + pid.hp_l;
+
+			// increase hp when the delta_tem is large
+			float delta_tem = pid.now_tem - pid.set_tem;
+			if (delta_tem > - 2) {
+				// pid.hp = pid.hp * 0.5;
+				pid.hp = -0.09 * delta_tem + pid.hp_l / 2;
+			} else {
+				pid.hp = (-pid.hp_l / 6 + 0.06) * delta_tem + pid.hp_l / 6 + 0.3;
+			}
 		}
 
 	}