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fix throttle diff too high error display and try fixing throttle jitter

This commit is contained in:
interfisch 2023-09-16 00:15:32 +02:00
parent a500e23e95
commit 47d5e0d581
4 changed files with 13 additions and 9 deletions
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1
controller_teensy/include/definitions.h
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@ -74,6 +74,7 @@ uint16_t brake_raw=failsafe_brake_min; //start at min so that failsafe is not t
#define ADC_DIFFHIGH_TIME 500 //for failsafe_throttle_maxDiff. how long values need to stay bad to trigger failsafe #define ADC_DIFFHIGH_TIME 500 //for failsafe_throttle_maxDiff. how long values need to stay bad to trigger failsafe
bool error_throttle_outofrange=false; bool error_throttle_outofrange=false;
bool error_throttle_difftoohigh=false;
bool error_brake_outofrange=false; bool error_brake_outofrange=false;
bool error_ads_max_read_interval=false; bool error_ads_max_read_interval=false;
bool error_sdfile_unavailable=false; bool error_sdfile_unavailable=false;

5
controller_teensy/include/display.h
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@ -51,7 +51,7 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage()); display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
*/ */
if ( (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval || error_sdfile_unavailable) && ((loopmillis/2000)%2==0)) { if ( (error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval || error_sdfile_unavailable) && ((loopmillis/2000)%2==0)) {
//Error Messages //Error Messages
display.setFont(); display.setFont();
@ -68,6 +68,9 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
if (error_throttle_outofrange) { if (error_throttle_outofrange) {
errorstring+="throttle_outofrange\n"; errorstring+="throttle_outofrange\n";
} }
if (error_throttle_difftoohigh) {
errorstring+="throttle_difftoohigh\n";
}
if (error_ads_max_read_interval) { if (error_ads_max_read_interval) {
errorstring+="ads_max_read_interval\n"; errorstring+="ads_max_read_interval\n";
}if (error_sdfile_unavailable) { }if (error_sdfile_unavailable) {

2
controller_teensy/include/led.h
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@ -103,7 +103,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
if (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { if (error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval) {
//Error //Error
}else{ }else{

14
controller_teensy/src/main.cpp
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@ -430,7 +430,6 @@ void readADC() {
//Serial.print(throttle_posA); Serial.print('\t'); //Serial.print(throttle_posA); Serial.print('\t');
//Serial.print(throttle_posB); Serial.print('\t'); //Serial.print(throttle_posB); Serial.print('\t');
int16_t _throttlediff = (int)throttle_posA-(int)throttle_posB;
int16_t throttle_posMean = (throttle_posA+throttle_posB)/2.0; int16_t throttle_posMean = (throttle_posA+throttle_posB)/2.0;
@ -529,8 +528,8 @@ void failChecks() {
throttlediff_ok_time=loopmillis; throttlediff_ok_time=loopmillis;
} }
if (loopmillis>throttlediff_ok_time+ADC_DIFFHIGH_TIME) { //not ok for too long if (loopmillis>throttlediff_ok_time+ADC_DIFFHIGH_TIME) { //not ok for too long
if (!error_throttle_outofrange) { if (!error_throttle_difftoohigh) {
error_throttle_outofrange=true; error_throttle_difftoohigh=true;
writeLogComment(loopmillis, "Error Throttle Diff too High. A="+(String)ads_throttle_A_raw+" B="+(String)ads_throttle_B_raw); writeLogComment(loopmillis, "Error Throttle Diff too High. A="+(String)ads_throttle_A_raw+" B="+(String)ads_throttle_B_raw);
} }
//Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw); //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
@ -563,7 +562,7 @@ void failChecks() {
writeLogComment(loopmillis, "Error SDFile Unavailable"); writeLogComment(loopmillis, "Error SDFile Unavailable");
} }
if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors? if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_throttle_difftoohigh || error_ads_max_read_interval) { //any errors?
armed=false; //disarm armed=false; //disarm
throttle_pos=0; throttle_pos=0;
brake_pos=0; brake_pos=0;
@ -589,9 +588,7 @@ void calculateSetSpeed(unsigned long timediff){
filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current
if (throttle_pos>=last_cmd_send) { //accelerating if(throttle_pos<last_cmd_send){ //freewheeling or braking
cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
}else{ //freewheeling or braking
if (filtered_currentAll>freewheel_current) { //drive current too high if (filtered_currentAll>freewheel_current) { //drive current too high
cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(timediff/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(timediff/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
} }
@ -599,6 +596,9 @@ void calculateSetSpeed(unsigned long timediff){
} }
//acceleration
cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
cmd_send=constrain(cmd_send,0,1000); cmd_send=constrain(cmd_send,0,1000);
last_cmd_send=cmd_send; last_cmd_send=cmd_send;