launch control for autocross on micro rusefi #4341

firmware/controllers/lua/examples/custom-launch-control.txt

@@ -23,17 +23,23 @@ function onTick()
 		desiredBoost = curve(desiredBoostCurve, launchStrength)
 
 		initialTorqueReduction = table3d(initialTorqueReductionTable, desiredRPM, desiredBoost)
+		pid:setOffset(initialTorqueReduction)
 
 
 		print ("Running LC " ..desiredRPM .." boost=" + desiredBoost ..' t=' ..initialTorqueReduction)
 
 	elseif launchButtonState == 1 then
 
+		rpm = getSensor("RPM")
+		-- handle nil RPM, todo: change firmware to avoid nil RPM
+		rpm = (rpm == nil and 0 or rpm)
+
 
 		print ("Running LC " ..desiredRPM .." boost=" + desiredBoost)
 
 	else
 		print "Not running LC"
+		setTimingAdd(0)
 	end
 
 end

firmware/controllers/lua/lua_hooks.cpp

@@ -395,6 +395,11 @@ struct LuaPid final {
 		return m_pid.getOutput(target, input, dt);
 	}
 
+	void setOffset(float offset) {
+		m_params.offset = offset;
+		reset();
+	}
+
 	void reset() {
 		m_pid.reset();
 	}
@@ -422,6 +427,7 @@ void configureRusefiLuaHooks(lua_State* l) {
 	luaPid
 		.ctor<float, float, float, float, float>()
 		.fun("get", &LuaPid::get)
+		.fun("setOffset", &LuaPid::setOffset)
 		.fun("reset", &LuaPid::reset);
 
 	configureRusefiLuaUtilHooks(l);

unit_tests/tests/lua/test_lua_basic.cpp

@@ -90,6 +90,16 @@ TEST(LuaBasic, ExpectNumOrNilReturnsNumber) {
 	)").value_or(0));
 }
 
+TEST(LuaPid, Offset) {
+	EXPECT_FLOAT_EQ(18.0f, testLuaReturnsNumberOrNil(R"(
+		function testFunc()
+pid = Pid.new(2, 0, 0, -100, 100)
+pid:setOffset(20)
+			return pid:get(20, 21)
+		end
+	)").value_or(0));
+}
+
 TEST(LuaBasic, ExpectNumOrNilReturnsNothing) {
 	// Returning nothing is generally functionally equivalent to returning nil
 	EXPECT_EQ(testLuaReturnsNumberOrNil(R"(