PID auto tune unit test

firmware/controllers/electronic_throttle.cpp

@@ -116,7 +116,10 @@ static msg_t etbThread(void *arg) {
 			continue;
 		}
 
+		percent_t actualThrottlePosition = getTPS();
+
 		if (engine->etbAutoTune) {
+			autoTune.input = actualThrottlePosition;
 			autoTune.Runtime(&logger);
 
 			etbPwmUp.setSimplePwmDutyCycle(autoTune.output);
@@ -128,7 +131,6 @@ static msg_t etbThread(void *arg) {
 
 		percent_t targetPosition = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
 
-		percent_t actualThrottlePosition = getTPS();
 
 		currentEtbDuty = pid.getValue(targetPosition, actualThrottlePosition);
 
@@ -274,7 +276,7 @@ static void setTempOutput(float value) {
 }
 
 static void setTempStep(float value) {
-	autoTune.oStep = value;
+	autoTune.SetOutputStep(value);
 }
 
 void initElectronicThrottle(void) {
@@ -288,6 +290,7 @@ void initElectronicThrottle(void) {
 	//
 	addConsoleActionF("set_etb", setThrottleDutyCycle);
 
+	// this is useful one you do "enable etb_auto"
 	addConsoleActionF("set_etb_output", setTempOutput);
 	addConsoleActionF("set_etb_step", setTempStep);
 

firmware/controllers/math/pid_auto_tune.cpp

@@ -44,7 +44,7 @@ Tuning tuningRule[PID_AutoTune::NO_OVERSHOOT_PID + 1] =
 PID_AutoTune::PID_AutoTune() {
 	running = false;
 
-	controlType = ZIEGLER_NICHOLS_PI;
+	controlType = ZIEGLER_NICHOLS_PID;
 	noiseBand = 0.5;
 	setState(AUTOTUNER_OFF);
 	oStep = 10.0;
@@ -127,7 +127,7 @@ bool PID_AutoTune::Runtime(Logging *logging)
     lastPeakTime[0] = now;
     workingNoiseBand = noiseBand;
     newWorkingNoiseBand = noiseBand;
-    workingOstep = oStep;
+    workingOutputstep = oStep;
 
 #if defined (AUTOTUNE_RELAY_BIAS)
     relayBias = 0.0;
@@ -293,9 +293,9 @@ bool PID_AutoTune::Runtime(Logging *logging)
   {
 
 #if defined (AUTOTUNE_RELAY_BIAS)
-    output = outputStart + workingOstep + relayBias;
+    setOutput(outputStart + workingOstep + relayBias);
 #else
-    output = outputStart + workingOstep;
+    setOutput(outputStart + workingOutputstep);
 #endif
 
   }
@@ -303,9 +303,9 @@ bool PID_AutoTune::Runtime(Logging *logging)
   {
 
 #if defined (AUTOTUNE_RELAY_BIAS)
-    output = outputStart - workingOstep + relayBias;
+	  setOutput(outputStart - workingOstep + relayBias);
 #else
-    output = outputStart - workingOstep;
+	  setOutput(outputStart - workingOutputstep);
 #endif
 
   }
@@ -425,7 +425,7 @@ bool PID_AutoTune::Runtime(Logging *logging)
       }
       // else state == STEADY_STATE_AFTER_STEP_UP
       // calculate process gain
-      K_process = (avgInput - lastPeaks[0]) / workingOstep;
+      K_process = (avgInput - lastPeaks[0]) / workingOutputstep;
 
 #if defined (AUTOTUNE_DEBUG)
       Serial.print(F("Process gain "));
@@ -639,6 +639,8 @@ bool PID_AutoTune::Runtime(Logging *logging)
     }
   }
 
+  bool tooManyCycles = peakCount >= 20;
+  bool tooLongBetween =  ((now - lastPeakTime[0]) > (unsigned long) (AUTOTUNE_MAX_WAIT_MINUTES * 60000));
   // if the autotune has not already converged
   // terminate after 10 cycles
   // or if too long between peaks
@@ -649,10 +651,13 @@ bool PID_AutoTune::Runtime(Logging *logging)
     ((now - lastStepTime[0]) > (unsigned long) (AUTOTUNE_MAX_WAIT_MINUTES * 60000)) ||
 #endif
 
-    ((now - lastPeakTime[0]) > (unsigned long) (AUTOTUNE_MAX_WAIT_MINUTES * 60000)) ||
+	tooLongBetween ||
-    (peakCount >= 20)
+	tooManyCycles
   )
   {
+#if EFI_UNIT_TEST
+		printf("tooManyCycles=%d tooLongBetween=%d\r\n", tooManyCycles, tooLongBetween);
+#endif /* EFI_UNIT_TEST */
 	  setState(FAILED);
   }
 
@@ -666,7 +671,7 @@ bool PID_AutoTune::Runtime(Logging *logging)
 
   // autotune algorithm has terminated
   // reset autotuner variables
-  output = outputStart;
+  setOutput( outputStart);
 
   if (state == FAILED)
   {
@@ -684,7 +689,7 @@ bool PID_AutoTune::Runtime(Logging *logging)
   // finish up by calculating tuning parameters
 
   // calculate ultimate gain
-  double Ku = 4.0 * workingOstep / (inducedAmplitude * CONST_PI);
+  double Ku = 4.0 * workingOutputstep / (inducedAmplitude * CONST_PI);
 
 #if defined (AUTOTUNE_DEBUG)
   Serial.print(F("ultimate gain "));
@@ -762,4 +767,30 @@ float PID_AutoTune::GetKd()
   return Kp * Td;
 }
 
+void PID_AutoTune::setOutput(float output) {
+	this->output = output;
+#if EFI_UNIT_TEST
+		printf("output=%f\r\n", output);
+#endif /* EFI_UNIT_TEST */
+}
+
+void PID_AutoTune::SetOutputStep(double Step)
+{
+  oStep = Step;
+}
+
+double PID_AutoTune::GetOutputStep()
+{
+  return oStep;
+}
+
+void PID_AutoTune::SetControlType(byte type)
+{
+  controlType = type;
+}
+
+byte PID_AutoTune::GetControlType()
+{
+  return controlType;
+}
 

firmware/controllers/math/pid_auto_tune.h

@@ -128,11 +128,12 @@ public:
   float GetKi();                       //   computed tuning parameters.
   float GetKd();                       //
 
-  double oStep;
   byte peakCount;
   float input;
   float output;
 
+  void setOutput(float output);
+
 #if EFI_UNIT_TEST
   double absMax;
   double absMin;
@@ -147,6 +148,7 @@ public:
   PidAutoTune_AutoTunerState state;            // * state of autotuner finite state machine
 
 private:
+  double oStep;
 
   double processValueOffset(double,     // * returns an estimate of the process value offset
       double);                          //   as a proportion of the amplitude
@@ -165,7 +167,7 @@ private:
   float lastInputs[101];               // * process values, most recent in array element 0
   byte inputCount;
   float workingNoiseBand;
-  float workingOstep;
+  float workingOutputstep;
   float inducedAmplitude;
   float Kp, Ti, Td;
 

unit_tests/test_pid_auto.cpp

@@ -45,6 +45,7 @@ static void testPidAutoZigZagStable() {
 
 	PID_AutoTune at;
 	at.SetLookbackSec(5);
+	at.SetControlType(PID_AutoTune::ZIEGLER_NICHOLS_PI);
 	at.sampleTime = 0; // not used in math only used to filter values out
 	assertEqualsM("nLookBack", 20, at.nLookBack);
 
@@ -108,7 +109,7 @@ static void testPidAutoZigZagStable() {
 	bool result = at.Runtime(&logging);
 	assertEqualsM("should be true", 1, result);
 
-	assertEqualsM("output", 0.0, at.output);
+	assertEqualsM("testPidAutoZigZagStable::output", 0.0, at.output);
 
 	assertEqualsM("peakCount@80", 5, at.peakCount);
 	assertEqualsM("ki", 27.7798, at.GetKi());
@@ -157,9 +158,35 @@ static void testPidAutoZigZagGrowingOsc() {
 
 }
 
+static void testPidAutoZigZagZero() {
+	printf("*************************************************** testPidAutoZigZagGrowingOsc\r\n");
+
+	oscRange = 0;
+	mockTimeMs = 0;
+
+	PID_AutoTune at;
+	at.SetLookbackSec(5);
+	at.sampleTime = 0; // not used in math only used to filter values out
+
+	int startMockMs;
+
+		for (int i =0;i<110;i++) {
+			startMockMs = mockTimeMs;
+			printf("loop=%d %d\r\n", i, startMockMs);
+			for (; mockTimeMs < CYCLE + startMockMs; mockTimeMs++) {
+				at.input = zigZagValue(mockTimeMs);
+//				bool result = at.Runtime(&logging);
+//				assertFalseM("should be false#4", result);
+			}
+			oscRange *= 1.5;
+		}
+}
+
 void testPidAutoZigZag() {
 	printf("*************************************************** testPidAutoZigZag\r\n");
 
+
+	testPidAutoZigZagZero();
 	testPidAutoZigZagStable();
 
 	testPidAutoZigZagGrowingOsc();