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Throttle Position Regulation🔗

The throttle position regulation module acts as a throttle controller, regulating how much the throttle blades are open. To do this, it takes the Throttle Position Setpoint from the Throttle Target module and the measured throttle position from the throttle position sensor and uses them to determine how much the throttle blades must be adjusted.

This involves performing the following tasks once per millisecond:

  1. Computing the difference between the Throttle Position Setpoint and the throttle position reported by the sensor. This difference is called Throttle Position Error.

  2. Determining a throttle position to be used as the basis for the throttle position to be sent to the hardware. This is called the Feed Forward Term.

  3. Calculating an amount of desired correction to apply. The desired correction for each cycle includes three components, which are added together to form the total amount of correction:

    • A Proportional Term - This portion of the correction is meant to be directly proportional to the amount of error.

    • An Integral Term - This portion of the correction is based on the sum of the error over time.

    • A Derivative Term - The derivative is based on how much the error has changed over the last millisecond. So the faster the error changes, the larger this term becomes.

  4. Calculating the actual throttle position sent to the hardware (Throttle Position Demanded) by adding the total correction to the Feed Forward Term.