docs

firmware/controllers/electronic_throttle.cpp

@@ -5,17 +5,23 @@
  * todo: make this more universal if/when we get other hardware options
  *
  * Jan 2017 status:
+ * Electronic throttle body with it's spring is definitely not linear - both P and I factors of PID are required to get any results
  *  PID implementation tested on a bench only
  *  it is believed that more than just PID would be needed, as is this is probably
  *  not usable on a real vehicle. Needs to be tested :)
  *
+ *
+ *
  *  ETB is controlled according to pedal position input (pedal position sensor is a potentiometer)
  *    petal 0% means pedal not pressed / idle
  *    pedal 100% means pedal all the way down
+ *  (not TPS - not the one you can calibrate in TunerStudio)
  *
  *  At the moment we only control opening motor - while relying on ETB spring to move throttle butterfly
  *  back. Throttle position sensor inside ETB is used for closed-loop PID control of ETB.
  *
+ * See also pid.cpp
+ *
  *
  * http://rusefi.com/forum/viewtopic.php?f=5&t=592
  *

firmware/controllers/math/pid.cpp

@@ -1,6 +1,7 @@
 /**
  * @file pid.cpp
  *
+ * https://en.wikipedia.org/wiki/Feedback
  * http://en.wikipedia.org/wiki/PID_controller
  *
  * @date Sep 16, 2014