增加两档PID控制，针对流量误差大和小的情况分别控制，在误差大时快速调节，误差小时慢慢调节以减少震荡和稳态误差。

main.py

@@ -63,13 +63,13 @@ def build_logger():
 
 def build_control_loop(hardware, logger):
     pid = IncrementalPID(
-        kp=config.PID_KP,
-        ki=config.PID_KI,
-        kd=config.PID_KD,
+        kp=config.PID_FAR_KP,
+        ki=config.PID_FAR_KI,
+        kd=config.PID_FAR_KD,
         dt=config.CONTROL_PERIOD_S,
         out_min=config.OPENING_MIN_PCT,
         out_max=config.OPENING_MAX_PCT,
-        output_rate_limit=config.MAX_OPENING_RATE_PCT_S,
+        output_rate_limit=config.MAX_OPENING_RATE_FAR_PCT_S,
     )
     return FlowControlLoop(
         hardware=hardware,
@@ -91,6 +91,27 @@ def build_control_loop(hardware, logger):
         max_consecutive_pressure_failures=(
             config.MAX_CONSECUTIVE_PRESSURE_FAILURES
         ),
+        pid_far_gains=(
+            config.PID_FAR_KP,
+            config.PID_FAR_KI,
+            config.PID_FAR_KD,
+        ),
+        pid_near_gains=(
+            config.PID_NEAR_KP,
+            config.PID_NEAR_KI,
+            config.PID_NEAR_KD,
+        ),
+        opening_rate_far_pct_s=config.MAX_OPENING_RATE_FAR_PCT_S,
+        opening_rate_near_pct_s=config.MAX_OPENING_RATE_NEAR_PCT_S,
+        pid_near_error_min_slm=config.PID_NEAR_ERROR_MIN_SLM,
+        pid_near_error_target_ratio=(
+            config.PID_NEAR_ERROR_TARGET_RATIO
+        ),
+        pid_far_error_min_slm=config.PID_FAR_ERROR_MIN_SLM,
+        pid_far_error_target_ratio=config.PID_FAR_ERROR_TARGET_RATIO,
+        pid_mode_switch_confirm_cycles=(
+            config.PID_MODE_SWITCH_CONFIRM_CYCLES
+        ),
         logger=logger,
     )