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start integratig (#2147)

This commit is contained in:
Matthew Kennedy 2020-12-26 16:44:40 -08:00 committed by GitHub
parent 560061e251
commit d20a54b463
1 changed files with 18 additions and 19 deletions
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37
firmware/controllers/actuators/idle_thread.cpp
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@ -338,26 +338,14 @@ static bool isOutOfAutomaticIdleCondition(float rpm, int targetRpm DECLARE_ENGIN
/** /**
* @return idle valve position percentage for automatic closed loop mode * @return idle valve position percentage for automatic closed loop mode
*/ */
static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_SUFFIX) { static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm DECLARE_ENGINE_PARAMETER_SUFFIX) {
// todo: move this to pid_s one day // todo: move this to pid_s one day
industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq; industrialWithOverrideIdlePid.antiwindupFreq = engineConfiguration->idle_antiwindupFreq;
industrialWithOverrideIdlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss; industrialWithOverrideIdlePid.derivativeFilterLoss = engineConfiguration->idle_derivativeFilterLoss;
// get Target RPM for Auto-PID from a separate table
int targetRpm = ENGINE(idleController)->getTargetRpm(Sensor::get(SensorType::Clt).value_or(0));
efitick_t nowNt = getTimeNowNt();
efitimeus_t nowUs = getTimeNowUs(); efitimeus_t nowUs = getTimeNowUs();
float rpm;
if (CONFIG(useInstantRpmForIdle)) {
rpm = engine->triggerCentral.triggerState.calculateInstantRpm(&engine->triggerCentral.triggerFormDetails, NULL, nowNt PASS_ENGINE_PARAMETER_SUFFIX);
} else {
rpm = GET_RPM();
}
if (isOutOfAutomaticIdleCondition(rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX)) { if (isOutOfAutomaticIdleCondition(rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX)) {
// Don't store old I and D terms if PID doesn't work anymore. // Don't store old I and D terms if PID doesn't work anymore.
// Otherwise they will affect the idle position much later, when the throttle is closed. // Otherwise they will affect the idle position much later, when the throttle is closed.
@ -449,7 +437,21 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMin = engineConfiguration->idlerpmpid_iTermMin; getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMin = engineConfiguration->idlerpmpid_iTermMin;
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMax = engineConfiguration->idlerpmpid_iTermMax; getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->iTermMax = engineConfiguration->idlerpmpid_iTermMax;
SensorResult tps = Sensor::get(SensorType::DriverThrottleIntent);
// On failed sensor, use 0 deg C - should give a safe highish idle
float clt = Sensor::get(SensorType::Clt).value_or(0);
auto tps = Sensor::get(SensorType::DriverThrottleIntent);
float rpm;
if (CONFIG(useInstantRpmForIdle)) {
efitick_t nowNt = getTimeNowNt();
rpm = engine->triggerCentral.triggerState.calculateInstantRpm(&engine->triggerCentral.triggerFormDetails, NULL, nowNt PASS_ENGINE_PARAMETER_SUFFIX);
} else {
rpm = GET_RPM();
}
// Compute the target we're shooting for
auto targetRpm = getTargetRpm(clt);
engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO; engine->engineState.isAutomaticIdle = tps.Valid && engineConfiguration->idleMode == IM_AUTO;
@ -498,7 +500,6 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
finishIdleTestIfNeeded(); finishIdleTestIfNeeded();
undoIdleBlipIfNeeded(); undoIdleBlipIfNeeded();
const auto [cltValid, clt] = Sensor::get(SensorType::Clt);
#if EFI_SHAFT_POSITION_INPUT #if EFI_SHAFT_POSITION_INPUT
bool isRunning = engine->rpmCalculator.isRunning(); bool isRunning = engine->rpmCalculator.isRunning();
#else #else
@ -506,10 +507,8 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
#endif /* EFI_SHAFT_POSITION_INPUT */ #endif /* EFI_SHAFT_POSITION_INPUT */
// cltCorrection is used only for cranking or running in manual mode // cltCorrection is used only for cranking or running in manual mode
float cltCorrection; float cltCorrection;
if (!cltValid)
cltCorrection = 1.0f;
// Use separate CLT correction table for cranking // Use separate CLT correction table for cranking
else if (engineConfiguration->overrideCrankingIacSetting && !isRunning) { if (engineConfiguration->overrideCrankingIacSetting && !isRunning) {
cltCorrection = interpolate2d("cltCrankingT", clt, config->cltCrankingCorrBins, config->cltCrankingCorr); cltCorrection = interpolate2d("cltCrankingT", clt, config->cltCrankingCorrBins, config->cltCrankingCorr);
} else { } else {
// this value would be ignored if running in AUTO mode // this value would be ignored if running in AUTO mode
@ -535,7 +534,7 @@ static percent_t automaticIdleController(float tpsPos DECLARE_ENGINE_PARAMETER_S
// let's re-apply CLT correction // let's re-apply CLT correction
iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX); iacPosition = manualIdleController(cltCorrection PASS_ENGINE_PARAMETER_SUFFIX);
} else { } else {
iacPosition = automaticIdleController(tps.Value PASS_ENGINE_PARAMETER_SUFFIX); iacPosition = automaticIdleController(tps.Value, rpm, targetRpm PASS_ENGINE_PARAMETER_SUFFIX);
} }
iacPosition = clampPercentValue(iacPosition); iacPosition = clampPercentValue(iacPosition);