From 29e3c71df48aff67e7c0e61e30383785dc6a698e Mon Sep 17 00:00:00 2001 From: rusefi Date: Fri, 10 Jul 2020 14:19:51 -0400 Subject: [PATCH] https://rusefi.com/forum/viewtopic.php?p=37401#p37401 --- firmware/controllers/actuators/idle_thread.cpp | 2 +- firmware/controllers/algo/engine_configuration.cpp | 1 - firmware/util/math/pid.h | 5 +++++ 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/firmware/controllers/actuators/idle_thread.cpp b/firmware/controllers/actuators/idle_thread.cpp index a20daf881e..90d3e3142d 100644 --- a/firmware/controllers/actuators/idle_thread.cpp +++ b/firmware/controllers/actuators/idle_thread.cpp @@ -75,7 +75,7 @@ static bool mightResetPid = false; PidCic idlePid; #else -class PidWithOverrides : public Pid { +class PidWithOverrides : public PidIndustrial { public: float getOffset() const override { #if EFI_UNIT_TEST diff --git a/firmware/controllers/algo/engine_configuration.cpp b/firmware/controllers/algo/engine_configuration.cpp index baa11736bb..a5a558e59c 100644 --- a/firmware/controllers/algo/engine_configuration.cpp +++ b/firmware/controllers/algo/engine_configuration.cpp @@ -1450,7 +1450,6 @@ void validateConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) { engineConfiguration->cltIdleRpmBins[i] = fixNegativeZero(engineConfiguration->cltIdleRpmBins[i]); } // having zeros in unsued fields is important for REO CRC match - engineConfiguration->unusedAt516 = 0; engineConfiguration->unusedAt712 = 0; engineConfiguration->unusedAt716 = 0; engineConfiguration->unusedAt720 = 0; diff --git a/firmware/util/math/pid.h b/firmware/util/math/pid.h index 0b893b0789..7bed17ee76 100644 --- a/firmware/util/math/pid.h +++ b/firmware/util/math/pid.h @@ -30,6 +30,9 @@ struct pid_s; class Logging; +/** + * default basic implementation also known as PidParallelController + */ class Pid : public pid_state_s { public: @@ -110,6 +113,8 @@ private: * See: Wittenmark B., Astrom K., Arzen K. IFAC Professional Brief. Computer Control: An Overview. * Two additional parameters used: derivativeFilterLoss and antiwindupFreq * (If both are 0, then this controller is identical to PidParallelController) + * + * TODO: should PidIndustrial replace all usages of Pid/PidParallelController? */ class PidIndustrial : public Pid { public: