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ETB duty cycle jitter #4833

This commit is contained in:
rusefillc 2022-11-28 20:33:04 -05:00
parent 53b1cfff95
commit 5596087481
2 changed files with 8 additions and 4 deletions
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8
firmware/controllers/actuators/electronic_throttle.cpp
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@ -208,8 +208,6 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
// Ignore 3% position error before complaining
m_errorAccumulator.init(3.0f, etbPeriodSeconds);
m_dutyIntegrator.init(engineConfiguration->etbDutyThreshold, etbPeriodSeconds);
reset();
return true;
@ -223,6 +221,8 @@ void EtbController::onConfigurationChange(pid_s* previousConfiguration) {
if (m_motor && !m_pid.isSame(previousConfiguration)) {
m_shouldResetPid = true;
}
m_dutyRocAverage.init(engineConfiguration->etbRocExpAverageLength);
m_dutyAverage.init(engineConfiguration->etbExpAverageLength);
}
void EtbController::showStatus() {
@ -515,7 +515,9 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
// Normal case - use PID to compute closed loop part
float output = m_pid.getOutput(target, observation, etbPeriodSeconds);
etbDutyRateOfChange = m_dutyIntegrator.accumulate(prevOutput - output);
etbDutyAverage = m_dutyAverage.average(output);
etbDutyAverage = m_dutyRocAverage.average(prevOutput - output);
prevOutput = output;
// seems good enough to simply check for both TPS sensors

4
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -14,6 +14,7 @@
#include "efi_pid.h"
#include "error_accumulator.h"
#include "electronic_throttle_generated.h"
#include "exp_average.h"
/**
* Hard code ETB update speed.
@ -87,7 +88,8 @@ private:
// todo: rename to m_targetErrorAccumulator
ErrorAccumulator m_errorAccumulator;
ErrorAccumulator m_dutyIntegrator;
ExpAverage m_dutyRocAverage;
ExpAverage m_dutyAverage;
float prevOutput = 0;
// Pedal -> target map