From 8a3727de3e04c49633e6f1e6212d47f2c783f040 Mon Sep 17 00:00:00 2001
From: Andrey <rusefillc@gmail.com>
Date: Tue, 29 Nov 2022 14:59:08 -0500
Subject: [PATCH] ETB duty cycle jitter #4833

---
 firmware/controllers/actuators/electronic_throttle.cpp    | 6 ++++--
 firmware/controllers/actuators/electronic_throttle_impl.h | 2 ++
 firmware/util/math/exp_average.h                          | 5 +++++
 unit_tests/tests/actuators/test_etb_integrated.cpp        | 4 +---
 4 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 7aecc1ff12..df43913724 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -215,6 +215,9 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
 
 void EtbController::reset() {
 	m_shouldResetPid = true;
+	etbDutyRateOfChange = etbDutyAverage = 0;
+	m_dutyRocAverage.reset();
+	m_dutyAverage.reset();
 }
 
 void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
@@ -740,12 +743,11 @@ static void showEtbInfo() {
 #endif /* EFI_PROD_CODE */
 }
 
-static void etbPidReset() {
+void etbPidReset() {
 	for (int i = 0 ; i < ETB_COUNT; i++) {
 		if (auto controller = engine->etbControllers[i]) {
 			controller->reset();
 		}
-		
 	}
 }
 
diff --git a/firmware/controllers/actuators/electronic_throttle_impl.h b/firmware/controllers/actuators/electronic_throttle_impl.h
index 1f154e4e44..3edf3af191 100644
--- a/firmware/controllers/actuators/electronic_throttle_impl.h
+++ b/firmware/controllers/actuators/electronic_throttle_impl.h
@@ -119,6 +119,8 @@ private:
 	Timer m_luaAdjustmentTimer;
 };
 
+void etbPidReset();
+
 class EtbController1 : public EtbController { };
 
 class EtbController2 : public EtbController {
diff --git a/firmware/util/math/exp_average.h b/firmware/util/math/exp_average.h
index d2ba98afd0..0ed9ab9015 100644
--- a/firmware/util/math/exp_average.h
+++ b/firmware/util/math/exp_average.h
@@ -15,6 +15,11 @@ public:
         smoothingFactor = 2 / (length + 1.0);
     }
 
+    void reset() {
+        current = 0;
+        smoothingFactor = 0.5;
+    }
+
 private:
     float current = 0;
     float smoothingFactor = 0.5;
diff --git a/unit_tests/tests/actuators/test_etb_integrated.cpp b/unit_tests/tests/actuators/test_etb_integrated.cpp
index 6ab6db299a..95bbfa6556 100644
--- a/unit_tests/tests/actuators/test_etb_integrated.cpp
+++ b/unit_tests/tests/actuators/test_etb_integrated.cpp
@@ -5,6 +5,7 @@
 
 TEST(etb, integrated) {
 	EngineTestHelper eth(TEST_ENGINE);
+	etbPidReset(); // ETB controlles are global shared instances :(
 
 	engineConfiguration->tps1_1AdcChannel = EFI_ADC_3;
 	engineConfiguration->tps1_2AdcChannel = EFI_ADC_3;
@@ -17,15 +18,12 @@ TEST(etb, integrated) {
 
 	Sensor::setMockValue(SensorType::Tps1, 25.0f, true);
 
-
 	initTps();
 	doInitElectronicThrottle();
 
 	EtbController *etb = (EtbController*)engine->etbControllers[0];
 	etb->update();
 
-
-
 	ASSERT_EQ(engine->outputChannels.etbTarget, 40);
 	ASSERT_EQ(etb->prevOutput, 100);
 	ASSERT_EQ(etb->etbDutyAverage, 50);