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PID logging: p term #4337

This commit is contained in:
rusefillc 2022-07-08 10:31:34 -04:00
parent 575a0b3d5d
commit 4c4f494904
4 changed files with 4 additions and 3 deletions
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1
firmware/console/binary/output_channels.txt
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@ -240,6 +240,7 @@ uint16_t rpmAcceleration;dRPM;"RPM/s",1, 0, 0, 5, 0
int8_t[4 iterate] autoscale vvtTargets;;"deg",1, 0, 0, 0, 0 int8_t[4 iterate] autoscale vvtTargets;;"deg",1, 0, 0, 0, 0
uint16_t turboSpeed;@@GAUGE_NAME_TURBO_SPEED@@;"hz",1, 0, 0, 0, 0 uint16_t turboSpeed;@@GAUGE_NAME_TURBO_SPEED@@;"hz",1, 0, 0, 0, 0
! fun fact: we have a separate pid_state.txt file for a bit of a different structure huh?
struct pid_status_s struct pid_status_s
float autoscale pTerm;;"", 1, 0, -50000, 50000, 2 float autoscale pTerm;;"", 1, 0, -50000, 50000, 2
int16_t autoscale iTerm;;"", 0.01, 0, -327, 327, 2 int16_t autoscale iTerm;;"", 0.01, 0, -327, 327, 2

3
firmware/util/math/efi_pid.cpp
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@ -137,7 +137,8 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) const {
void Pid::postState(pid_status_s& pidStatus) const { void Pid::postState(pid_status_s& pidStatus) const {
pidStatus.output = output; pidStatus.output = output;
pidStatus.error = getPrevError(); pidStatus.error = previousError;
pidStatus.pTerm = parameters == nullptr ? 0 : parameters->pFactor * previousError;
pidStatus.iTerm = iTerm; pidStatus.iTerm = iTerm;
pidStatus.dTerm = dTerm; pidStatus.dTerm = dTerm;
} }

2
firmware/util/math/efi_pid.h
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@ -69,7 +69,7 @@ public:
float iTermMin = -1000000.0; float iTermMin = -1000000.0;
float iTermMax = 1000000.0; float iTermMax = 1000000.0;
protected: protected:
pid_s *parameters; pid_s *parameters = nullptr;
virtual void updateITerm(float value); virtual void updateITerm(float value);
}; };

1
firmware/util/math/pid_state.txt
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@ -1,5 +1,4 @@
struct_no_prefix pid_state_s struct_no_prefix pid_state_s
float pTerm;
float iTerm; float iTerm;
float dTerm;we are remembering this only for debugging purposes float dTerm;we are remembering this only for debugging purposes
float target;only used for logging float target;only used for logging