Add I-term bounds for Alternator Control fix #6988

firmware/CHANGELOG.md

@@ -32,6 +32,7 @@ Release template (copy/paste this for new release):
  - Support wasted spark on odd cylinder count 4-stroke engines. Improves startup and allows running without a cam sensor!
  - CLT/IAT boost duty/target compensation #6424
  - DFCO MAP condition hysteresis #6915
+ - Add I-term bounds for Alternator Control #6988
 
 ### Fixed
  - Removed questionable MAP sampling trigger index option

firmware/controllers/actuators/alternator_controller.cpp

@@ -60,6 +60,9 @@ expected<percent_t> AlternatorController::getOpenLoop(float target) {
 }
 
 expected<percent_t> AlternatorController::getClosedLoop(float targetVoltage, float vBattVoltage) {
+		alternatorPid.iTermMin = engineConfiguration->alternator_iTermMin;
+		alternatorPid.iTermMax = engineConfiguration->alternator_iTermMax;
+
 	percent_t altDuty = alternatorPid.getOutput(targetVoltage, vBattVoltage, FAST_CALLBACK_PERIOD_MS / 1000.0f);
 
 	// this block could be executed even in on/off alternator control mode

firmware/controllers/engine_controller.cpp

@@ -533,6 +533,13 @@ bool validateConfigOnStartUpOrBurn() {
 	  engineConfiguration->mapExpAverageAlpha = 1;
 	}
 
+	if (engineConfiguration->alternator_iTermMin == 0) {
+  	engineConfiguration->alternator_iTermMin = -1000;
+	}
+	if (engineConfiguration->alternator_iTermMax == 0) {
+  	engineConfiguration->alternator_iTermMax = 1000;
+	}
+
 	ensureArrayIsAscending("Injector deadtime", engineConfiguration->injector.battLagCorrBins);
 
 #if EFI_ENGINE_CONTROL