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Use the same minimal temp value for Temperature compensation

This commit is contained in:
Andrej Vlašić 2021-11-24 12:18:29 +01:00
parent e1b150b6d1
commit 132c603699
1 changed files with 2 additions and 2 deletions
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4
mcpwm_foc.c
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@ -3579,7 +3579,7 @@ void observer_update(float v_alpha, float v_beta, float i_alpha, float i_beta,
// Temperature compensation
const float t = mc_interface_temp_motor_filtered();
if (conf_now->foc_temp_comp && t > -25.0) {
if (conf_now->foc_temp_comp && t > -30.0) {
R += R * 0.00386 * (t - conf_now->foc_temp_comp_base_temp);
}
@ -3747,7 +3747,7 @@ static void control_current(volatile motor_all_state_t *motor, float dt) {
// Temperature compensation
const float t = mc_interface_temp_motor_filtered();
float ki = conf_now->foc_current_ki;
if (conf_now->foc_temp_comp && t > -5.0) {
if (conf_now->foc_temp_comp && t > -30.0) {
ki += ki * 0.00386 * (t - conf_now->foc_temp_comp_base_temp);
}