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Float pkg: Decouple ki config value from the loop time. #46

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Float pkg: Decouple ki config value from the loop time. #46

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10 changes: 9 additions & 1 deletion float/float/float.c
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,7 @@ typedef struct {
float mc_max_temp_fet, mc_max_temp_mot;
float mc_current_max, mc_current_min, current_max, current_min, max_continuous_current;
float surge_angle, surge_angle2, surge_angle3, surge_adder;
float ki; // config ki scaled taking account the loop frequency.
bool overcurrent;
bool surge_enable;
bool current_beeping;
Expand Down Expand Up @@ -393,6 +394,11 @@ static void app_init(data *d) {
d->odometer = VESC_IF->mc_get_odometer();
}

static float normalized_to_iteration_ki(float normalized_ki, int loop_freq_hz) {
// Default frequency of Float thread used to be 832 Hz so we retain that scale.
return normalized_ki * (832.0 / loop_freq_hz);
}

static void configure(data *d) {
d->debug_render_1 = 2;
d->debug_render_2 = 4;
Expand All @@ -418,6 +424,7 @@ static void configure(data *d) {
d->turntilt_step_size = d->float_conf.turntilt_speed / d->float_conf.hertz;
d->noseangling_step_size = d->float_conf.noseangling_speed / d->float_conf.hertz;
d->inputtilt_step_size = d->float_conf.inputtilt_speed / d->float_conf.hertz;
d->ki = normalized_to_iteration_ki(d->float_conf.ki, d->float_conf.hertz);

d->surge_angle = d->float_conf.surge_angle;
d->surge_angle2 = d->float_conf.surge_angle * 2;
Expand Down Expand Up @@ -2011,7 +2018,7 @@ static void float_thd(void *arg) {
bool tail_down = SIGN(d->proportional) != SIGN(d->erpm);

// Resume real PID maths
d->pid_integral = d->pid_integral + d->proportional * d->float_conf.ki;
d->pid_integral = d->pid_integral + d->proportional * d->ki;

// Apply I term Filter
if (d->float_conf.ki_limit > 0 && fabsf(d->pid_integral) > d->float_conf.ki_limit) {
Expand Down Expand Up @@ -2729,6 +2736,7 @@ static void cmd_runtime_tune(data *d, unsigned char *cfg, int len)
d->float_conf.ki = 0.005;
else if (h1 > 1)
d->float_conf.ki = ((float)(h1 - 1)) / 100;
d->ki = normalized_to_iteration_ki(d->float_conf.ki, d->float_conf.hertz);
d->float_conf.ki_limit = h2 + 19;
if (h2 == 0)
d->float_conf.ki_limit = 0;
Expand Down