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This commit is contained in:
rusEfi 2015-03-21 20:05:19 -05:00
parent a91fa1c723
commit bb10956832
3 changed files with 6 additions and 6 deletions
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4
firmware/controllers/math/pid.cpp
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@ -31,10 +31,10 @@ float Pid::getValue(float target, float input, float dTime) {
float result = pTerm + integration + dTerm;
if (result > maxResult) {
integration -= result - maxResult;
// integration -= result - maxResult;
result = maxResult;
} else if (result < minResult) {
integration += minResult - result;
// integration += minResult - result;
result = minResult;
}
return result;

2
firmware/tunerstudio/rusefi.ini
View File

@ -606,7 +606,7 @@ fileVersion = { 20150314 }
veValue = scalar, F32, 112, "ratio", 1, 0
maxDelta = scalar, F32, 116, "ratio", 1, 0
minDelta = scalar, F32, 120, "ratio", 1, 0
egoCorrection = { 1 }
egoCorrection = { 0 }
time = { timeNow }
; engineLoad = { algorithm == 0 ? MAF : TPS }

6
unit_tests/test_idle_controller.cpp
View File

@ -50,12 +50,12 @@ void testPidController(void) {
pid.updateFactors(29, 0, 0);
assertEquals(10, pid.getValue(14, 16, 1));
assertEquals(68, pid.getIntegration());
// assertEquals(68, pid.getIntegration());
assertEquals(10, pid.getValue(14, 16, 1));
assertEquals(68, pid.getIntegration());
// assertEquals(0, pid.getIntegration());
assertEquals(10, pid.getValue(14, 16, 1));
assertEquals(68, pid.getIntegration());
// assertEquals(68, pid.getIntegration());
}