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rusefi-1
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This commit is contained in:
rusEfi 2017-02-13 11:03:16 -05:00
parent 8814e39b07
commit 78a8b96228
2 changed files with 11 additions and 3 deletions
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12
firmware/controllers/math/pid.cpp
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@ -45,12 +45,20 @@ float Pid::getValue(float target, float input, float dTime) {
prevError = error;
/**
* If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
* Here we limit the I-term #353
*/
if (iTerm > maxResult - (pTerm + dTerm + pid->offset))
iTerm = maxResult - (pTerm + dTerm + pid->offset);
if (iTerm < minResult - (pTerm + dTerm + pid->offset))
iTerm = minResult - (pTerm + dTerm + pid->offset);
float result = pTerm + iTerm + dTerm + pid->offset;
if (result > maxResult) {
// iTerm -= result - maxResult;
result = maxResult;
} else if (result < minResult) {
// iTerm += minResult - result;
result = minResult;
}
return result;

2
firmware/rusefi.cpp
View File

@ -249,5 +249,5 @@ 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 20170212;
return 20170213;
}