From 8156e8f75205fedf536d747ecdf7978e4b07f7b4 Mon Sep 17 00:00:00 2001
From: rusefi <rusefillc@gmail.com>
Date: Thu, 22 Nov 2018 23:42:30 -0500
Subject: [PATCH] PID auto tune unit test

---
 firmware/controllers/electronic_throttle.cpp | 19 +++++++++++++++++--
 firmware/controllers/math/pid_auto_tune.cpp  |  4 +++-
 unit_tests/test_pid_auto.cpp                 |  6 +++---
 3 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/firmware/controllers/electronic_throttle.cpp b/firmware/controllers/electronic_throttle.cpp
index 990ec72a1e..b8505a0af5 100644
--- a/firmware/controllers/electronic_throttle.cpp
+++ b/firmware/controllers/electronic_throttle.cpp
@@ -66,6 +66,8 @@ extern TunerStudioOutputChannels tsOutputChannels;
 #endif /* EFI_TUNER_STUDIO */
 static bool shouldResetPid = false;
 
+static pid_s tuneWorkingPidSettings;
+static Pid tuneWorkingPid(&tuneWorkingPidSettings);
 static PID_AutoTune autoTune;
 
 static LoggingWithStorage logger("ETB");
@@ -122,9 +124,13 @@ static msg_t etbThread(void *arg) {
 			autoTune.input = actualThrottlePosition;
 			autoTune.Runtime(&logger);
 
-			etbPwmUp.setSimplePwmDutyCycle(autoTune.output);
+			tuneWorkingPid.updateFactors(autoTune.output, 0, 0);
 
-			pid.sleep();
+			float value = tuneWorkingPid.getValue(50, actualThrottlePosition);
+			scheduleMsg(&logger, "output %f value=%f", autoTune.output, value);
+			etbPwmUp.setSimplePwmDutyCycle(value);
+
+			tuneWorkingPid.sleep();
 			continue;
 		}
 
@@ -290,6 +296,15 @@ void initElectronicThrottle(void) {
 	//
 	addConsoleActionF("set_etb", setThrottleDutyCycle);
 
+
+	tuneWorkingPidSettings.pFactor = 1;
+	tuneWorkingPidSettings.iFactor = 0;
+	tuneWorkingPidSettings.dFactor = 0;
+	tuneWorkingPidSettings.offset = 10; // todo: not hard-coded value
+	//todo tuneWorkingPidSettings.period = 10;
+	tuneWorkingPidSettings.minValue = 0;
+	tuneWorkingPidSettings.maxValue = 100;
+
 	// this is useful one you do "enable etb_auto"
 	addConsoleActionF("set_etb_output", setTempOutput);
 	addConsoleActionF("set_etb_step", setTempStep);
diff --git a/firmware/controllers/math/pid_auto_tune.cpp b/firmware/controllers/math/pid_auto_tune.cpp
index 897a986b2f..c87a0f265c 100644
--- a/firmware/controllers/math/pid_auto_tune.cpp
+++ b/firmware/controllers/math/pid_auto_tune.cpp
@@ -49,6 +49,7 @@ PID_AutoTune::PID_AutoTune() {
 	noiseBand = 0.5;
 	setState(AUTOTUNER_OFF);
 	oStep = 10.0;
+	input = output = 0;
 	SetLookbackSec(10);
 }
 
@@ -112,7 +113,7 @@ void PID_AutoTune::setPeakType(PidAutoTune_Peak peakType) {
 /**
  * returns true when done, otherwise returns false
  */
-bool PID_AutoTune::Runtime(Logging *logging)
+bool PID_AutoTune::Runtime(Logging *logger)
 {
   // check ready for new input
   unsigned long now = currentTimeMillis();
@@ -738,6 +739,7 @@ bool PID_AutoTune::Runtime(Logging *logging)
 #if EFI_UNIT_TEST
 		printf("Happy end AMIGOF_PI!\r\n");
 #endif /* EFI_UNIT_TEST */
+	scheduleMsg(logger, "output %f", output);
     // converged
     return true;
   }
diff --git a/unit_tests/test_pid_auto.cpp b/unit_tests/test_pid_auto.cpp
index c98a2c8fae..07168bde12 100644
--- a/unit_tests/test_pid_auto.cpp
+++ b/unit_tests/test_pid_auto.cpp
@@ -175,11 +175,11 @@ static void testPidAutoZigZagZero() {
 			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);
+				bool result = at.Runtime(&logging);
+				assertFalseM("should be false#4", result);
 			}
-			oscRange *= 1.5;
 		}
+		// nothing happens in this test since we do not allow time play a role
 }
 
 void testPidAutoZigZag() {