auto-sync

firmware/controllers/alternatorController.cpp

@@ -38,8 +38,8 @@ static msg_t AltCtrlThread(int param) {
 
 		currentAltDuty = altPid.getValue(14, getVBatt(engineConfiguration), 1);
 		if (boardConfiguration->isVerboseAlternator) {
-			scheduleMsg(logger, "alt duty: %f/vbatt=%f/p=%f/i=%f", currentAltDuty, getVBatt(engineConfiguration),
+			scheduleMsg(logger, "alt duty: %f/vbatt=%f/p=%f/i=%f/d=%f int=%f", currentAltDuty, getVBatt(engineConfiguration),
-					altPid.getP(), altPid.getI());
+					altPid.getP(), altPid.getI(), altPid.getD(), altPid.getIntegration());
 		}
 
 		alternatorControl.setSimplePwmDutyCycle(currentAltDuty / 100);

firmware/controllers/math/pid.cpp

@@ -36,7 +36,6 @@ float Pid::getValue(float target, float input, float dTime) {
 	} else if (result < minResult) {
 		integration += minResult - result;
 		result = minResult;
-
 	}
 	return result;
 }
@@ -61,6 +60,10 @@ float Pid::getI(void) {
 	return iFactor;
 }
 
+float Pid::getIntegration(void) {
+	return integration;
+}
+
 float Pid::getD(void) {
 	return dFactor;
 }

firmware/controllers/math/pid.h

@@ -17,6 +17,7 @@ public:
 	void reset(void);
 	float getP(void);
 	float getI(void);
+	float getIntegration(void);
 	float getD(void);
 private:
 	float pFactor;

unit_tests/test_idle_controller.cpp

@@ -48,5 +48,14 @@ void testPidController(void) {
 	assertEquals(10, pid.getValue(14, 16, 0.1));
 	assertEquals(10, pid.getValue(14, 16, 1));
 
+	pid.updateFactors(29, 0, 0);
+	assertEquals(10, pid.getValue(14, 16, 1));
+	assertEquals(68, pid.getIntegration());
+
+	assertEquals(10, pid.getValue(14, 16, 1));
+	assertEquals(68, pid.getIntegration());
+
+	assertEquals(10, pid.getValue(14, 16, 1));
+	assertEquals(68, pid.getIntegration());
 
 }