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iac coast table (#2784)

This commit is contained in:
Matthew Kennedy 2021-05-31 14:43:58 -07:00 committed by GitHub
parent 21264f9cf2
commit 39e4f70405
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 24 additions and 1 deletions
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6
firmware/controllers/actuators/idle_thread.cpp
View File

@ -268,6 +268,12 @@ float IdleController::getOpenLoop(Phase phase, float clt, SensorResult tps) cons
return cranking;
}
// If coasting (and enabled), use the coasting position table instead of normal open loop
// TODO: this should be a table of open loop mult vs. RPM, not vs. clt
if (CONFIG(useIacTableForCoasting) && phase == Phase::Coasting) {
return interpolate2d(clt, CONFIG(iacCoastingBins), CONFIG(iacCoasting));
}
// Interpolate between cranking and running over a short time
// This clamps once you fall off the end, so no explicit check for running required
auto revsSinceStart = engine->rpmCalculator.getRevolutionCounterSinceStart();

3
firmware/controllers/actuators/idle_thread.h
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@ -26,6 +26,7 @@ struct IIdleController {
virtual float getCrankingOpenLoop(float clt) const = 0;
virtual float getRunningOpenLoop(float clt, SensorResult tps) const = 0;
virtual float getOpenLoop(Phase phase, float clt, SensorResult tps) const = 0;
virtual float getClosedLoop(Phase phase, float tps, int rpm, int target) = 0;
};
class IdleController : public IIdleController {
@ -52,7 +53,7 @@ public:
float getIdleTimingAdjustment(int rpm, int targetRpm, Phase phase);
// CLOSED LOOP CORRECTION
float getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm);
float getClosedLoop(IIdleController::Phase phase, float tpsPos, int rpm, int targetRpm) override;
// Allow querying state from outside
bool isIdling() {

16
unit_tests/tests/test_idle_controller.cpp
View File

@ -270,6 +270,22 @@ TEST(idle_v2, openLoopRunningTaper) {
EXPECT_FLOAT_EQ(25, dut.getOpenLoop(ICP::Idling, 30, 0));
}
TEST(idle_v2, openLoopCoastingTable) {
WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
IdleController dut;
INJECT_ENGINE_REFERENCE(&dut);
// enable & configure feature
CONFIG(useIacTableForCoasting) = true;
for (size_t i = 0; i < CLT_CURVE_SIZE; i++) {
CONFIG(iacCoastingBins)[i] = 10 * i;
CONFIG(iacCoasting)[i] = 5 * i;
}
EXPECT_FLOAT_EQ(10, dut.getOpenLoop(ICP::Coasting, 20, 0));
EXPECT_FLOAT_EQ(20, dut.getOpenLoop(ICP::Coasting, 40, 0));
}
extern int timeNowUs;
TEST(idle_v2, closedLoopBasic) {