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refactoring & status fix

This commit is contained in:
rusEfi 2017-05-29 22:51:14 -04:00
parent 5a2884bf77
commit 9182781c40
1 changed files with 14 additions and 16 deletions
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30
firmware/controllers/math/pid.cpp
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@ -21,8 +21,6 @@ Pid::Pid(pid_s *pid, float minResult, float maxResult) {
void Pid::init(pid_s *pid, float minResult, float maxResult) {
this->pid = pid;
this->minResult = minResult;
this->maxResult = maxResult;
dTerm = iTerm = 0;
prevResult = prevInput = prevTarget = prevError = 0;
@ -52,17 +50,17 @@ float Pid::getValue(float target, float input, float dTime) {
* 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 > pid->maxValue - (pTerm + dTerm + pid->offset))
iTerm = pid->maxValue - (pTerm + dTerm + pid->offset);
if (iTerm < minResult - (pTerm + dTerm + pid->offset))
iTerm = minResult - (pTerm + dTerm + pid->offset);
if (iTerm < pid->minValue - (pTerm + dTerm + pid->offset))
iTerm = pid->minValue - (pTerm + dTerm + pid->offset);
float result = pTerm + iTerm + dTerm + pid->offset;
if (result > maxResult) {
result = maxResult;
} else if (result < minResult) {
result = minResult;
if (result > pid->maxValue) {
result = pid->maxValue;
} else if (result < pid->minValue) {
result = pid->minValue;
}
prevResult = result;
return result;
@ -110,8 +108,8 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
tsOutputChannels->debugFloatField3 = getPrevError();
tsOutputChannels->debugFloatField4 = getI();
tsOutputChannels->debugFloatField5 = getD();
tsOutputChannels->debugFloatField6 = minResult;
tsOutputChannels->debugFloatField7 = maxResult;
tsOutputChannels->debugFloatField6 = pid->minValue;
tsOutputChannels->debugFloatField7 = pid->maxValue;
tsOutputChannels->debugIntField1 = getP();
tsOutputChannels->debugIntField2 = getOffset();
tsOutputChannels->debugFloatField6 = dTerm;
@ -126,16 +124,16 @@ void Pid::sleep() {
}
void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
// todo: dTime should be taken from pid_s
scheduleMsg(logging, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
scheduleMsg(logging, "%s settings: offset=%d P=%.5f I=%.5f D=%.5f dT=%d",
msg,
pid->offset,
pid->pFactor,
pid->iFactor,
pid->dFactor,
dTime);
pid->period);
scheduleMsg(logging, "%f input=%d/target=%f iTerm=%.5f dTerm=%.5f",
scheduleMsg(logging, "%s status: value=%f input=%f/target=%f iTerm=%.5f dTerm=%.5f",
msg,
prevResult,
prevInput,
prevTarget,