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dead fields & better field name

This commit is contained in:
rusEfi 2019-09-01 18:41:51 -04:00
parent b85e91d103
commit f960587dc0
2 changed files with 44 additions and 46 deletions
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80
firmware/util/math/pid.cpp
View File

@ -17,23 +17,23 @@ Pid::Pid() {
initPidClass(NULL);
}
Pid::Pid(pid_s *pid) {
initPidClass(pid);
Pid::Pid(pid_s *parameters) {
initPidClass(parameters);
}
void Pid::initPidClass(pid_s *pid) {
this->pid = pid;
void Pid::initPidClass(pid_s *parameters) {
this->parameters = parameters;
resetCounter = 0;
reset();
}
bool Pid::isSame(pid_s *pid) const {
return this->pid->pFactor == pid->pFactor
&& this->pid->iFactor == pid->iFactor
&& this->pid->dFactor == pid->dFactor
&& this->pid->offset == pid->offset
&& this->pid->periodMs == pid->periodMs;
bool Pid::isSame(pid_s *parameters) const {
return this->parameters->pFactor == parameters->pFactor
&& this->parameters->iFactor == parameters->iFactor
&& this->parameters->dFactor == parameters->dFactor
&& this->parameters->offset == parameters->offset
&& this->parameters->periodMs == parameters->periodMs;
}
/**
@ -41,7 +41,7 @@ bool Pid::isSame(pid_s *pid) const {
* @returns Output from the PID controller / the input to the process
*/
float Pid::getOutput(float target, float input) {
float dTime = MS2SEC(GET_PERIOD_LIMITED(pid));
float dTime = MS2SEC(GET_PERIOD_LIMITED(parameters));
return getOutput(target, input, dTime);
}
@ -50,13 +50,13 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
this->target = target;
this->input = input;
float pTerm = pid->pFactor * error;
updateITerm(pid->iFactor * dTime * error);
dTerm = pid->dFactor / dTime * (error - previousError);
float pTerm = parameters->pFactor * error;
updateITerm(parameters->iFactor * dTime * error);
dTerm = parameters->dFactor / dTime * (error - previousError);
previousError = error;
return pTerm + iTerm + dTerm + pid->offset;
return pTerm + iTerm + dTerm + parameters->offset;
}
/**
@ -65,19 +65,19 @@ float Pid::getUnclampedOutput(float target, float input, float dTime) {
float Pid::getOutput(float target, float input, float dTime) {
float output = getUnclampedOutput(target, input, dTime);
if (output > pid->maxValue) {
output = pid->maxValue;
} else if (output < pid->minValue) {
output = pid->minValue;
if (output > parameters->maxValue) {
output = parameters->maxValue;
} else if (output < parameters->minValue) {
output = parameters->minValue;
}
this->output = output;
return output;
}
void Pid::updateFactors(float pFactor, float iFactor, float dFactor) {
pid->pFactor = pFactor;
pid->iFactor = iFactor;
pid->dFactor = dFactor;
parameters->pFactor = pFactor;
parameters->iFactor = iFactor;
parameters->dFactor = dFactor;
reset();
}
@ -89,11 +89,11 @@ void Pid::reset(void) {
}
float Pid::getP(void) const {
return pid->pFactor;
return parameters->pFactor;
}
float Pid::getI(void) const {
return pid->iFactor;
return parameters->iFactor;
}
float Pid::getPrevError(void) const {
@ -105,11 +105,11 @@ float Pid::getIntegration(void) const {
}
float Pid::getD(void) const {
return pid->dFactor;
return parameters->dFactor;
}
float Pid::getOffset(void) const {
return pid->offset;
return parameters->offset;
}
void Pid::setErrorAmplification(float coef) {
@ -131,18 +131,18 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels, int pMult) {
tsOutputChannels->debugFloatField4 = getI();
tsOutputChannels->debugFloatField5 = getD();
tsOutputChannels->debugFloatField6 = dTerm;
// tsOutputChannels->debugFloatField6 = pid->minValue;
tsOutputChannels->debugFloatField7 = pid->maxValue;
// tsOutputChannels->debugFloatField6 = parameters->minValue;
tsOutputChannels->debugFloatField7 = parameters->maxValue;
tsOutputChannels->debugIntField1 = getP() * pMult;
tsOutputChannels->debugIntField2 = getOffset();
tsOutputChannels->debugIntField3 = resetCounter;
tsOutputChannels->debugIntField4 = pid->periodMs;
tsOutputChannels->debugIntField4 = parameters->periodMs;
}
#endif /* EFI_TUNER_STUDIO */
void Pid::sleep() {
#if !EFI_UNIT_TEST
int periodMs = maxI(10, pid->periodMs);
int periodMs = maxI(10, parameters->periodMs);
chThdSleepMilliseconds(periodMs);
#endif /* EFI_UNIT_TEST */
}
@ -150,11 +150,11 @@ void Pid::sleep() {
void Pid::showPidStatus(Logging *logging, const char*msg) {
scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f period=%dms",
msg,
pid->offset,
pid->pFactor,
pid->iFactor,
pid->dFactor,
pid->periodMs);
parameters->offset,
parameters->pFactor,
parameters->iFactor,
parameters->dFactor,
parameters->periodMs);
scheduleMsg(logging, "%s status: value=%.2f input=%.2f/target=%.2f iTerm=%.5f dTerm=%.5f",
msg,
@ -171,16 +171,16 @@ void Pid::updateITerm(float value) {
* If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
* Here we limit the I-term #353
*/
if (iTerm > pid->maxValue * 100) {
iTerm = pid->maxValue * 100;
if (iTerm > parameters->maxValue * 100) {
iTerm = parameters->maxValue * 100;
}
if (iTerm > iTermMax) {
iTerm = iTermMax;
}
// this is kind of a hack. a proper fix would be having separate additional settings 'maxIValue' and 'minIValye'
if (iTerm < -pid->maxValue * 100)
iTerm = -pid->maxValue * 100;
if (iTerm < -parameters->maxValue * 100)
iTerm = -parameters->maxValue * 100;
if (iTerm < iTermMin) {
iTerm = iTermMin;
}
@ -192,7 +192,7 @@ PidCic::PidCic() {
reset();
}
PidCic::PidCic(pid_s *pid) : Pid(pid) {
PidCic::PidCic(pid_s *parameters) : Pid(parameters) {
// call our derived reset()
reset();
}

10
firmware/util/math/pid.h
View File

@ -34,9 +34,9 @@ class Pid : public pid_state_s {
public:
Pid();
explicit Pid(pid_s *pid);
void initPidClass(pid_s *pid);
bool isSame(pid_s *pid) const;
explicit Pid(pid_s *parameters);
void initPidClass(pid_s *parameters);
bool isSame(pid_s *parameters) const;
/**
* This version of the method takes dTime from pid_s
@ -61,8 +61,6 @@ public:
void postState(TunerStudioOutputChannels *tsOutputChannels);
void postState(TunerStudioOutputChannels *tsOutputChannels, int pMult);
#endif /* EFI_TUNER_STUDIO */
float minResult;
float maxResult;
void showPidStatus(Logging *logging, const char*msg);
void sleep();
int resetCounter;
@ -70,7 +68,7 @@ public:
float iTermMin = -1000000.0;
float iTermMax = 1000000.0;
private:
pid_s *pid;
pid_s *parameters;
float previousError;