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Improve ETB idle control (#1319) 

* compress idle pos

* fix tests for new behavior
This commit is contained in:
Matthew Kennedy 2020-04-20 14:29:03 -07:00 committed by GitHub
parent 1a5e0a42f8
commit 99489cff67
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 18 additions and 9 deletions
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13
firmware/controllers/actuators/electronic_throttle.cpp
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@ -168,7 +168,8 @@ expected<percent_t> EtbController::getSetpoint() const {
float sanitizedPedal = clampF(0, pedalPosition.Value, 100); float sanitizedPedal = clampF(0, pedalPosition.Value, 100);
float rpm = GET_RPM(); float rpm = GET_RPM();
engine->engineState.targetFromTable = m_pedalMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, sanitizedPedal); float targetFromTable = m_pedalMap->getValue(rpm / RPM_1_BYTE_PACKING_MULT, sanitizedPedal);
engine->engineState.targetFromTable = targetFromTable;
percent_t etbIdlePosition = clampF( percent_t etbIdlePosition = clampF(
0, 0,
@ -177,15 +178,19 @@ expected<percent_t> EtbController::getSetpoint() const {
); );
percent_t etbIdleAddition = 0.01f * CONFIG(etbIdleThrottleRange) * etbIdlePosition; percent_t etbIdleAddition = 0.01f * CONFIG(etbIdleThrottleRange) * etbIdlePosition;
float target = engine->engineState.targetFromTable + etbIdleAddition; // Interpolate so that the idle adder just "compresses" the throttle's range upward.
// [0, 100] -> [idle, 100]
// 0% target from table -> idle position as target
// 100% target from table -> 100% target position
percent_t targetPosition = interpolateClamped(0, etbIdleAddition, 100, 100, targetFromTable);
#if EFI_TUNER_STUDIO #if EFI_TUNER_STUDIO
if (m_myIndex == 0) { if (m_myIndex == 0) {
tsOutputChannels.etbTarget = target; tsOutputChannels.etbTarget = targetPosition;
} }
#endif #endif
return target; return targetPosition;
} }
expected<percent_t> EtbController::getOpenLoop(percent_t target) const { expected<percent_t> EtbController::getOpenLoop(percent_t target) const {

14
unit_tests/tests/test_etb.cpp
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@ -176,26 +176,30 @@ TEST(etb, setpointIdle) {
// Idle should now have 10% range // Idle should now have 10% range
engineConfiguration->etbIdleThrottleRange = 10; engineConfiguration->etbIdleThrottleRange = 10;
// 50% idle position should increase setpoint by 5% // 50% idle position should increase setpoint by 5% when closed, and 0% when open
etb.setIdlePosition(50); etb.setIdlePosition(50);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
EXPECT_FLOAT_EQ(5, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(5, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(52.5, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
// 100% setpoint should increase by 10% // 100% setpoint should increase by 10% closed, scaled 0% at wot
etb.setIdlePosition(100); etb.setIdlePosition(100);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
EXPECT_FLOAT_EQ(60, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 100.0f);
EXPECT_FLOAT_EQ(100, etb.getSetpoint().value_or(-1));
// 125% setpoint should clamp to 10% increase // 125% setpoint should clamp to 10% increase
etb.setIdlePosition(125); etb.setIdlePosition(125);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f);
EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(10, etb.getSetpoint().value_or(-1));
Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f); Sensor::setMockValue(SensorType::AcceleratorPedal, 50.0f);
EXPECT_FLOAT_EQ(60, etb.getSetpoint().value_or(-1)); EXPECT_FLOAT_EQ(55, etb.getSetpoint().value_or(-1));
} }
TEST(etb, etbTpsSensor) { TEST(etb, etbTpsSensor) {