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ETB duty cycle jitter #4833

This commit is contained in:
rusefillc 2022-11-27 18:45:10 -05:00
parent c01ffa3716
commit 2adeb2b5af
1 changed files with 4 additions and 3 deletions
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7
firmware/controllers/actuators/electronic_throttle.cpp
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@ -509,14 +509,15 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
// Allow up to 10 percent-seconds of error // Allow up to 10 percent-seconds of error
if (etbIntegralError > 10.0f) { if (etbIntegralError > 10.0f) {
// TODO: figure out how to handle uncalibrated ETB // TODO: figure out how to handle uncalibrated ETB
//getLimpManager()->etbProblem(); //getLimpManager()->reportEtbProblem();
} }
// Normal case - use PID to compute closed loop part // Normal case - use PID to compute closed loop part
float output = m_pid.getOutput(target, observation, etbPeriodSeconds); float output = m_pid.getOutput(target, observation, etbPeriodSeconds);
m_dutyErrorAccumulator.accumulate(prevOutput - output); etbDutyRateOfChange = m_dutyIntegrator.accumulate(prevOutput - output);
prevOutput = output; prevOutput = output;
etbDutyRateOfChange =
bool isInputError = !Sensor::get(SensorType::Tps1).Valid || isTps2Error() || isPedalError();
return output; return output;
} }
} }