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code style (#2780)

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Matthew Kennedy 2021-05-31 03:01:57 -07:00 committed by GitHub
parent 33d296d4c7
commit d2f7e96747
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1 changed files with 8 additions and 6 deletions
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14
firmware/controllers/actuators/idle_thread.cpp
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@ -341,10 +341,12 @@ static void undoIdleBlipIfNeeded() {
* @return idle valve position percentage for automatic closed loop mode
*/
static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm, IIdleController::Phase phase DECLARE_ENGINE_PARAMETER_SUFFIX) {
auto idlePid = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE);
if (shouldResetPid) {
// we reset only if I-term is negative, because the positive I-term is good - it keeps RPM from dropping too low
if (getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getIntegration() <= 0 || mustResetPid) {
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->reset();
if (idlePid->getIntegration() <= 0 || mustResetPid) {
idlePid->reset();
mustResetPid = false;
}
// alternatorPidResetCounter++;
@ -395,11 +397,11 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm,
// todo: move restoreAfterPidResetTimeUs to engineState.idle?
efitimeus_t timeSincePidResetUs = nowUs - /*engine->engineState.idle.*/restoreAfterPidResetTimeUs;
// todo: add 'pidAfterResetDampingPeriodMs' setting
errorAmpCoef = interpolateClamped(0.0f, 0.0f, MS2US(/*CONFIG(pidAfterResetDampingPeriodMs)*/1000), errorAmpCoef, timeSincePidResetUs);
errorAmpCoef = interpolateClamped(0, 0, MS2US(/*CONFIG(pidAfterResetDampingPeriodMs)*/1000), errorAmpCoef, timeSincePidResetUs);
// If errorAmpCoef > 1.0, then PID thinks that RPM is lower than it is, and controls IAC more aggressively
getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->setErrorAmplification(errorAmpCoef);
idlePid->setErrorAmplification(errorAmpCoef);
percent_t newValue = getIdlePid(PASS_ENGINE_PARAMETER_SIGNATURE)->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
percent_t newValue = idlePid->getOutput(targetRpm, rpm, SLOW_CALLBACK_PERIOD_MS / 1000.0f);
engine->engineState.idle.idleState = PID_VALUE;
// the state of PID has been changed, so we might reset it now, but only when needed (see idlePidDeactivationTpsThreshold)
@ -410,7 +412,7 @@ static percent_t automaticIdleController(float tpsPos, float rpm, int targetRpm,
float engineLoad = getFuelingLoad(PASS_ENGINE_PARAMETER_SIGNATURE);
float multCoef = iacPidMultMap.getValue(rpm / RPM_1_BYTE_PACKING_MULT, engineLoad);
// PID can be completely disabled of multCoef==0, or it just works as usual if multCoef==1
newValue = interpolateClamped(0.0f, engine->engineState.idle.baseIdlePosition, 1.0f, newValue, multCoef);
newValue = interpolateClamped(0, engine->engineState.idle.baseIdlePosition, 1.0f, newValue, multCoef);
}
// Apply PID Deactivation Threshold as a smooth taper for TPS transients.