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ETB duty cycle jitter #4833

This commit is contained in:
Andrey 2022-11-29 14:59:08 -05:00
parent 73e309da03
commit 8a3727de3e
4 changed files with 12 additions and 5 deletions
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6
firmware/controllers/actuators/electronic_throttle.cpp
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@ -215,6 +215,9 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
void EtbController::reset() { void EtbController::reset() {
m_shouldResetPid = true; m_shouldResetPid = true;
etbDutyRateOfChange = etbDutyAverage = 0;
m_dutyRocAverage.reset();
m_dutyAverage.reset();
} }
void EtbController::onConfigurationChange(pid_s* previousConfiguration) { void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
@ -740,12 +743,11 @@ static void showEtbInfo() {
#endif /* EFI_PROD_CODE */ #endif /* EFI_PROD_CODE */
} }
static void etbPidReset() { void etbPidReset() {
for (int i = 0 ; i < ETB_COUNT; i++) { for (int i = 0 ; i < ETB_COUNT; i++) {
if (auto controller = engine->etbControllers[i]) { if (auto controller = engine->etbControllers[i]) {
controller->reset(); controller->reset();
} }
} }
} }

2
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -119,6 +119,8 @@ private:
Timer m_luaAdjustmentTimer; Timer m_luaAdjustmentTimer;
}; };
void etbPidReset();
class EtbController1 : public EtbController { }; class EtbController1 : public EtbController { };
class EtbController2 : public EtbController { class EtbController2 : public EtbController {

5
firmware/util/math/exp_average.h
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@ -15,6 +15,11 @@ public:
smoothingFactor = 2 / (length + 1.0); smoothingFactor = 2 / (length + 1.0);
} }
void reset() {
current = 0;
smoothingFactor = 0.5;
}
private: private:
float current = 0; float current = 0;
float smoothingFactor = 0.5; float smoothingFactor = 0.5;

4
unit_tests/tests/actuators/test_etb_integrated.cpp
View File

@ -5,6 +5,7 @@
TEST(etb, integrated) { TEST(etb, integrated) {
EngineTestHelper eth(TEST_ENGINE); EngineTestHelper eth(TEST_ENGINE);
etbPidReset(); // ETB controlles are global shared instances :(
engineConfiguration->tps1_1AdcChannel = EFI_ADC_3; engineConfiguration->tps1_1AdcChannel = EFI_ADC_3;
engineConfiguration->tps1_2AdcChannel = EFI_ADC_3; engineConfiguration->tps1_2AdcChannel = EFI_ADC_3;
@ -17,15 +18,12 @@ TEST(etb, integrated) {
Sensor::setMockValue(SensorType::Tps1, 25.0f, true); Sensor::setMockValue(SensorType::Tps1, 25.0f, true);
initTps(); initTps();
doInitElectronicThrottle(); doInitElectronicThrottle();
EtbController *etb = (EtbController*)engine->etbControllers[0]; EtbController *etb = (EtbController*)engine->etbControllers[0];
etb->update(); etb->update();
ASSERT_EQ(engine->outputChannels.etbTarget, 40); ASSERT_EQ(engine->outputChannels.etbTarget, 40);
ASSERT_EQ(etb->prevOutput, 100); ASSERT_EQ(etb->prevOutput, 100);
ASSERT_EQ(etb->etbDutyAverage, 50); ASSERT_EQ(etb->etbDutyAverage, 50);