ETB duty cycle jitter #4833

2022-11-29 12:39:47 -05:00 · 2022-11-29 12:39:47 -05:00 · 51ea23db68
parent 607a5677d4
commit 51ea23db68
1 changed files with 1 additions and 1 deletions
--- 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