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Fixup ETB auto-calib/tune buttons (#5063) 

* fix TS command typo (s/cmb/cmd/g)

* use TsCalMode constants in TS inputs

* TS: guard ETB calibrationMode buttons

* simplify ETB calibration logic
This commit is contained in:
Nathan Schulte 2023-02-13 09:31:37 -06:00 committed by GitHub
parent d9efbcc9b3
commit 9fc7864723
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 7 deletions
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10
firmware/controllers/actuators/electronic_throttle.cpp
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@ -447,19 +447,15 @@ expected<percent_t> EtbController::getClosedLoopAutotune(percent_t target, perce
float kd = 0.08f * ku * m_tu;
// Every 5 cycles (of the throttle), cycle to the next value
if (m_autotuneCounter == 5) {
if (m_autotuneCounter >= 5) {
m_autotuneCounter = 0;
m_autotuneCurrentParam++;
if (m_autotuneCurrentParam >= 3) {
m_autotuneCurrentParam = 0;
}
m_autotuneCurrentParam = (m_autotuneCurrentParam + 1) % 3; // three ETB calibs: P-I-D
}
m_autotuneCounter++;
// Multiplex 3 signals on to the {mode, value} format
engine->outputChannels.calibrationMode = (uint8_t)static_cast<TsCalMode>(m_autotuneCurrentParam + 3);
engine->outputChannels.calibrationMode = (uint8_t)static_cast<TsCalMode>((uint8_t)TsCalMode::EtbKp + m_autotuneCurrentParam);
switch (m_autotuneCurrentParam) {
case 0: