From 5f7ba304bf264b1f692f9888821b544b4365f0c7 Mon Sep 17 00:00:00 2001
From: Andrey <rusefillc@gmail.com>
Date: Tue, 29 Nov 2022 12:39:47 -0500
Subject: [PATCH] ETB duty cycle jitter #4833

---
 firmware/controllers/actuators/electronic_throttle.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 648617333a..7aecc1ff12 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -518,7 +518,7 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
         float output = m_pid.getOutput(target, observation, etbPeriodSeconds);
         etbDutyAverage = m_dutyAverage.average(output);
 
-        etbDutyAverage = m_dutyRocAverage.average(prevOutput - output);
+        etbDutyRateOfChange = m_dutyRocAverage.average(output - prevOutput);
 		prevOutput = output;
 
         // seems good enough to simply check for both TPS sensors