From f2629b04c22e8cc50b48bd7127fbbfa0ad80f1a1 Mon Sep 17 00:00:00 2001
From: Martin Shetty <1972005+martukas@users.noreply.github.com>
Date: Mon, 4 Jul 2022 01:20:27 -0700
Subject: [PATCH] a bit of cleanup

---
 software/controller/lib/core/controller.cpp | 35 ++-------------------
 software/controller/lib/core/controller.h   | 12 +++----
 2 files changed, 8 insertions(+), 39 deletions(-)

diff --git a/software/controller/lib/core/controller.cpp b/software/controller/lib/core/controller.cpp
index e638ccd9f1..b96188e0f3 100644
--- a/software/controller/lib/core/controller.cpp
+++ b/software/controller/lib/core/controller.cpp
@@ -15,9 +15,8 @@ limitations under the License.
 
 #include "controller.h"
 
-#include <math.h>
-
 #include <algorithm>
+#include <cmath>
 
 #include "system_constants.h"
 
@@ -26,9 +25,7 @@ Duration Controller::GetLoopPeriod() { return MainLoopPeriod; }
 std::pair<ActuatorsState, ControllerState> Controller::Run(Time now, const VentParams &params,
                                                            const SensorReadings &sensor_readings) {
   VolumetricFlow uncorrected_net_flow =
-      sensor_readings.air_inflow
-      // + sensor_readings.oxygen_inflow \todo add this once it is well tested
-      - sensor_readings.outflow;
+      sensor_readings.air_inflow + sensor_readings.oxygen_inflow - sensor_readings.outflow;
   flow_integrator_->AddFlow(now, uncorrected_net_flow);
   uncorrected_flow_integrator_->AddFlow(now, uncorrected_net_flow);
 
@@ -79,17 +76,10 @@ std::pair<ActuatorsState, ControllerState> Controller::Run(Time now, const VentP
       uncorrected_flow_integrator_.emplace();
     }
 
-    // At the moment we don't support oxygen mixing -- we deliver either pure
-    // air or pure oxygen.  For any fio2 < 1, deliver air.
     if (params.fio2 < 0.6) {
       // Delivering air + oxygen mixes from 21 to 59%.
       psol_pid_.reset();
 
-      // Calculate blower valve command using calculated gains
-      /*float blower_valve =
-          blower_valve_pid_.Compute(now, sensor_readings.patient_pressure.kPa(),
-                                    desired_state.pressure_setpoint->kPa());*/
-
       float flow_cmd = blower_valve_pid_.compute(now, sensor_readings.patient_pressure.kPa(),
                                                  desired_state.pressure_setpoint->kPa());
       float blower_valve =
@@ -113,13 +103,6 @@ std::pair<ActuatorsState, ControllerState> Controller::Run(Time now, const VentP
       // Delivering air + oxygen mixes from 60 to 100%
       blower_valve_pid_.reset();
 
-      // experimental shit
-      /*
-      float blower_valve =
-              air_flow_pid_.Compute(now,
-      sensor_readings.inflow.liters_per_sec(), dbg_air_flow_setpoint.Get());
-  */
-
       float psol_valve = psol_pid_.compute(now, sensor_readings.patient_pressure.kPa(),
                                            desired_state.pressure_setpoint->kPa());
 
@@ -130,20 +113,6 @@ std::pair<ActuatorsState, ControllerState> Controller::Run(Time now, const VentP
       float blower_valve = air_flow_pid_.compute(now, sensor_readings.air_inflow.liters_per_sec(),
                                                  psol_valve * (1 - fio2_coupling_value));
 
-      // experimental shit
-      /*
-      actuators_state = {
-// Force psol to stay very slightly open to avoid the discontinuity
-// caused by valve hysteresis at very low command.  The exhale valve
-// compensates for this intentional leakage by staying open when the
-// psol valve is closed.
-.fio2_valve = 0,
-.blower_power = 1,
-.blower_valve = blower_valve,
-.exhale_valve = 1.0f, // - 0.6f * psol_valve - 0.4f,
-        };
-        */
-
       actuators_state = {
           // Force psol to stay very slightly open to avoid the discontinuity
           // caused by valve hysteresis at very low command.  The exhale valve
diff --git a/software/controller/lib/core/controller.h b/software/controller/lib/core/controller.h
index e3cb440828..71651a0e68 100644
--- a/software/controller/lib/core/controller.h
+++ b/software/controller/lib/core/controller.h
@@ -89,9 +89,9 @@ class Controller {
 
   PID fio2_pid_{"fio2_",
                 " for FIO2 PID",
-                /*kp=*/0.001f,
-                /*ki=*/0.1f,
-                /*kd=*/0.0f,
+                /*initial_kp=*/0.001f,
+                /*initial_ki=*/0.1f,
+                /*initial_kd=*/0.0f,
                 /*p_term=*/PID::TermApplication::OnError,
                 /*d_term=*/PID::TermApplication::OnMeasurement,
                 /*output_min=*/-1.0f,
@@ -99,9 +99,9 @@ class Controller {
 
   PID air_flow_pid_{"air_flow_",
                     " for air flow PID",
-                    /*kp=*/0.1f,
-                    /*ki=*/20.0f,
-                    /*kd=*/0.0f,
+                    /*initial_kp=*/0.1f,
+                    /*initial_ki=*/20.0f,
+                    /*initial_kd=*/0.0f,
                     /*p_term=*/PID::TermApplication::OnError,
                     /*d_term=*/PID::TermApplication::OnMeasurement,
                     /*output_min=*/0.f,