control_mpc: add MPC control law

README.md

@@ -26,15 +26,17 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [fan: reverse FAN](https://github.com/DangerKlippers/danger-klipper/pull/51) ([klipper#4983](https://github.com/Klipper3d/klipper/pull/4983))
 
-- [heater: modify PID without reload](https://github.com/DangerKlippers/danger-klipper/pull/35)
+- [heaters: modify PID without reload](https://github.com/DangerKlippers/danger-klipper/pull/35)
 
-- [heater: velocity PID](https://github.com/DangerKlippers/danger-klipper/pull/47) ([klipper#6272](https://github.com/Klipper3d/klipper/pull/6272))
+- [heaters: MPC temperature control](https://github.com/DangerKlippers/danger-klipper/pull/333)
 
-- [heater: PID-Profiles](https://github.com/DangerKlippers/danger-klipper/pull/162)
+- [heaters: velocity PID](https://github.com/DangerKlippers/danger-klipper/pull/47) ([klipper#6272](https://github.com/Klipper3d/klipper/pull/6272))
 
-- [heater: expose heater thermistor out of min/max](https://github.com/DangerKlippers/danger-klipper/pull/182)
+- [heaters: PID-Profiles](https://github.com/DangerKlippers/danger-klipper/pull/162)
 
-- [heater/fan: new heated_fan module](https://github.com/DangerKlippers/danger-klipper/pull/259)
+- [heaters: expose heater thermistor out of min/max](https://github.com/DangerKlippers/danger-klipper/pull/182)
+
+- [heaters/fan: new heated_fan module](https://github.com/DangerKlippers/danger-klipper/pull/259)
 
 - [gcode: jinja2.ext.do extension](https://github.com/DangerKlippers/danger-klipper/pull/26) ([klipper#5149](https://github.com/Klipper3d/klipper/pull/5149))
 
@@ -119,8 +121,6 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge-v2 branch [feature documentation](docs/Bleeding_Edge.md)
 and [feature configuration reference](docs/Config_Reference_Bleeding_Edge.md):
 
-- [heaters: mpc temperature control](https://github.com/DangerKlippers/danger-klipper/pull/268)
-
 - [extruder/pa: do not smooth base extruder position, only advance](https://github.com/DangerKlippers/danger-klipper/pull/266)
 
 - [core: non-critical-mcus](https://github.com/DangerKlippers/danger-klipper/pull/265)

docs/Config_Reference.md

@@ -935,7 +935,8 @@ The extruder section is used to describe the heater parameters for the
 nozzle hotend along with the stepper controlling the extruder. See the
 [command reference](G-Codes.md#extruder) for additional information.
 See the [pressure advance guide](Pressure_Advance.md) for information
-on tuning pressure advance.
+on tuning pressure advance. See [PID](PID.md) or [MPC](MPC.md) for more
+detailed information about the control methods.
 
 ```
 [extruder]
@@ -1022,12 +1023,14 @@ sensor_pin:
 #   be smoothed to reduce the impact of measurement noise. The default
 #   is 1 seconds.
 control:
-#   Control algorithm (either pid, pid_v or watermark). This parameter must
+#   Control algorithm (either pid, pid_v, watermark or mpc). This parameter must
 #   be provided. pid_v should only be used on well calibrated heaters with
 #   low to moderate noise.
-pid_Kp:
-pid_Ki:
-pid_Kd:
+#
+#   If control: pid or pid_v
+#pid_Kp:
+#pid_Ki:
+#pid_Kd:
 #   The proportional (pid_Kp), integral (pid_Ki), and derivative
 #   (pid_Kd) settings for the PID feedback control system. Klipper
 #   evaluates the PID settings with the following general formula:
@@ -1037,11 +1040,23 @@ pid_Kd:
 #   off and 1.0 being full on. Consider using the PID_CALIBRATE
 #   command to obtain these parameters. The pid_Kp, pid_Ki, and pid_Kd
 #   parameters must be provided for PID heaters.
+#
+#   If control: watermark
 #max_delta: 2.0
 #   On 'watermark' controlled heaters this is the number of degrees in
 #   Celsius above the target temperature before disabling the heater
 #   as well as the number of degrees below the target before
 #   re-enabling the heater. The default is 2 degrees Celsius.
+#
+#   If control: mpc
+#   See MPC.md for details about these parameters.
+#heater_power:
+#cooling_fan:
+#ambient_temp_sensor:
+#filament_diameter: 1.75
+#filament_density: 1.2
+#filament_heat_capacity: 1.8
+#
 #pwm_cycle_time: 0.100
 #   Time in seconds for each software PWM cycle of the heater. It is
 #   not recommended to set this unless there is an electrical

docs/Danger_Features.md

@@ -34,7 +34,7 @@
 - [`[z_tilt/quad_gantry_level] increasing_threshold`](./Config_Reference.md#z_tilt) allows you to customize the allowed variation when probing multiple times
 
 ## Heaters, Fans, and PID changes
-
+- [Model Predictive Control](./MPC.md) is an advanced temperature control method that offers an alternative to traditional PID control.
 - [Velocity PID](./PID.md) can be more accurate than positional PID, but is more susceptible to noisy sensors and may require larger smoothing times
 - [`PID_PROFILE [LOAD/SAVE]`](./G-Codes.md#pid_profile) allows you to calibrate and save PID profiles at multiple temperatures and fan speeds, and later restore them. With some clever macros, automatic per-material pid tuning is within reach!
 - [`SET_HEATER_PID HEATER= KP= KI= KD=`](./G-Codes.md#set_heater_pid) can update your PID parameters without a reload.