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refactoring

This commit is contained in:
rusefi 2017-11-16 14:44:34 -05:00
parent b6f638b9af
commit 7732d06dad
1 changed files with 6 additions and 5 deletions
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11
firmware/controllers/electronic_throttle.cpp
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@ -83,7 +83,7 @@ EXTERN_ENGINE;
static Pid pid(&engineConfiguration->etb);
static float prevTps;
//static float prevTps;
static percent_t currentEtbDuty;
@ -108,14 +108,15 @@ static msg_t etbThread(void *arg) {
}
percent_t throttlePedal = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
percent_t tps = getTPS();
percent_t targetPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
currentEtbDuty = pid.getValue(throttlePedal, getTPS());
percent_t actualThrottlePosition = getTPS();
currentEtbDuty = pid.getValue(targetPosition, actualThrottlePosition);
etbPwmUp.setSimplePwmDutyCycle(currentEtbDuty / 100);
bool needEtbBraking = absF(throttlePedal - tps) < 3;
bool needEtbBraking = absF(targetPosition - actualThrottlePosition) < 3;
if (needEtbBraking != wasEtbBraking) {
scheduleMsg(&logger, "need ETB braking: %d", needEtbBraking);
wasEtbBraking = needEtbBraking;