-fixes #206

Author: Steinar Elgsæter

Dynamic/Identification/PidIdentifier.cs

@@ -434,6 +434,7 @@ private double[] GetErrorTerm(UnitDataSet dataSet, PidFilter pidFilter)
                 if (pidParam.Scaling.IsKpScalingOn())
                 {
                     yScaleFactor = 1 / pidScaling.GetKpScalingFactor();
+                   // yScaleFactor = pidScaling.GetKpScalingFactor();
                 }
                 if (yScaleFactor == 1)
                 {

Dynamic/PID/PIDcontroller.cs

@@ -357,6 +357,8 @@ public double Iterate(double y_process_abs, double y_set_abs, double? uTrackSign
             // scaling
             double KpScalingFactor = pidScaling.GetKpScalingFactor();
             double KpUnscaled = Kp / KpScalingFactor;
+           // double KpUnscaled = Kp * KpScalingFactor;
+
 
             // it iterate PID-controller one timestep
             // y_process_abs is the absolute value of the process value(scalar)

Dynamic/PID/PIDscaling.cs

@@ -179,11 +179,15 @@ public double GetUScaleFactor()
 
         /// <summary>
         /// Get a scaling factor to convert and unscaled Kp
+        /// 
+        /// By defintion KpUnscaled = Kp / KpScalingFactor
+        /// 
         /// </summary>
         /// <returns></returns>
         public double GetKpScalingFactor()
         {
-            return GetYScaleFactor() / GetUScaleFactor();
+            return GetUScaleFactor() / GetYScaleFactor(); // verified as correct
+          ///   return GetYScaleFactor() / GetUScaleFactor(); // does not match AIM behaviour
         }