auto-sync

firmware/console/binary/tunerstudio_configuration.h

@@ -133,7 +133,9 @@ typedef struct {
 	float internalMcuTemperature; // 244
 	float vvtPosition; // 248
 	int engineMode; // 252
-	int unused3[5];
+	float debugFloatField6; // 256
+	float debugFloatField7; // 260
+	int unused3[3];
 } TunerStudioOutputChannels;
 
 #endif /* TUNERSTUDIO_CONFIGURATION_H_ */

firmware/controllers/math/pid.cpp

@@ -23,7 +23,7 @@ void Pid::init(pid_s *pid, float minResult, float maxResult) {
 	this->minResult = minResult;
 	this->maxResult = maxResult;
 
-	iTerm = 0;
+	dTerm = iTerm = 0;
 	prevError = 0;
 }
 
@@ -37,7 +37,7 @@ float Pid::getValue(float target, float input, float dTime) {
 
 	float pTerm = pid->pFactor * error;
 	iTerm += pid->iFactor * dTime * error;
-	float dTerm = pid->dFactor / dTime * (error - prevError);
+	dTerm = pid->dFactor / dTime * (error - prevError);
 
 	prevError = error;
 
@@ -90,11 +90,12 @@ float Pid::getOffset(void) {
 
 #if EFI_PROD_CODE || EFI_SIMULATOR
 void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
-	tsOutputChannels->debugFloatField2 = getIntegration();
+	tsOutputChannels->debugFloatField2 = iTerm;
 	tsOutputChannels->debugFloatField3 = getPrevError();
 	tsOutputChannels->debugFloatField4 = getI();
 	tsOutputChannels->debugFloatField5 = getD();
 	tsOutputChannels->debugIntField1 = getP();
 	tsOutputChannels->debugIntField2 = getOffset();
+	tsOutputChannels->debugFloatField6 = dTerm;
 }
 #endif

firmware/controllers/math/pid.h

@@ -40,6 +40,7 @@ private:
 	float maxResult;
 
 	float iTerm;
+	float dTerm; // we are remembering this only for debugging purposes
 	float prevError;
 };
 

firmware/rusefi.cpp

@@ -293,5 +293,5 @@ int getRusEfiVersion(void) {
 		return 123; // this is here to make the compiler happy about the unused array
 	if (UNUSED_CCM_SIZE[0] * 0 != 0)
 		return 3211; // this is here to make the compiler happy about the unused array
-	return 20160917;
+	return 20160920;
 }

firmware/tunerstudio/rusefi.input

@@ -848,6 +848,9 @@ fileVersion = { 20160702 }
       lastErrorCode = scalar,U32, 240, "error",            1,         0
       internalMcuTemperature = scalar,F32, 244, "C",            1,         0
       vvtPosition = scalar,F32, 248, "deg",            1,         0
+      engineMode    = scalar,  U32,   252, "em",          1,       0.0;
+      debugFloatField6  = scalar,  F32,  256,            "val",           1,       0.0;
+      debugFloatField7  = scalar,  F32,  260,            "val",           1,       0.0;
 
       egoCorrection   = { 100 }
       time            = { timeNow }
@@ -1254,6 +1257,12 @@ fileVersion = { 20160702 }
 ; Alternator_PID: D setting
    entry = debugFloatField5,   "debug f5",float,"%.4f"
 
+; Alternator_PID: dTerm
+   entry = debugFloatField6,   "debug f6",float,"%.4f"
+   
+   entry = debugFloatField7,   "debug f7",float,"%.4f"
+
+
 ; Alternator_PID: P setting
    entry = debugIntField1,   "debug i1",int,"%d"
 
@@ -1262,6 +1271,8 @@ fileVersion = { 20160702 }
    
 ; Alternator_PID: PID reset counter   
    entry = debugIntField3,   "debug i3",int,"%d"
+   
+   entry = engineMode,   "mode",int,"%d"
    entry = warningCounter,   "warn",int,"%d"
    entry = lastErrorCode,   "error",int,"%d"
    entry = internalMcuTemperature,   "int temp",float,"%.2f"