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111 Commits

Author SHA1 Message Date
Benjamin Vedder 79c86db6e6 New current sampling modes, FOC interpolation support 2023-09-23 14:45:00 +02:00
Benjamin Vedder 9eb978ef15 Added option to select PID speed controller source, some cleanup 2023-07-01 14:51:08 +02:00
Benjamin Vedder e3d7e8624c Added filter for the mapped input current limit 2023-06-23 11:10:37 +02:00
Benjamin Vedder ac7df4a7f6 Removed app_balance in favor of the balance package 2023-06-19 13:58:22 +02:00
Benjamin Vedder 7487e5fd44 Added setting to limit input current with field weakening, added timeout to lbm app adc detach 2023-06-08 04:31:36 +02:00
Benjamin Vedder e79b942d41 Updated changelog, reduced config size 2023-04-01 12:00:13 +02:00
Marcos Chaparro f061afa554 Add regen cutoff to prevent overcharging the battery during braking 
This change helps ensure that the battery remains in good condition, prolongs its overall lifespan and avoids hazardous scenarios of overcharge.
A soft cutoff for the regenerative braking is implemented, in which start and end thresholds should be set in VESC Tool. The end threshold should be set such that the cells don't exceed 4.2v in a typical Li-Ion battery.

Signed-off-by: Marcos Chaparro <marcos@lunacycle.com>
 2023-03-30 09:59:33 -03:00
Benjamin Vedder 514ed3727d Moved to 6.05 beta, attempt at smooth hall sensor transition 2023-03-20 22:10:01 +01:00
Thomas Solatges 4ed731479c WIP adding sin/cos phase error compensation 2022-12-01 15:50:27 +01:00
Benjamin Vedder 50aa16d200 Added configurable battery level filter 2022-11-24 10:15:36 +01:00
Benjamin Vedder 8a7f5c7b50 Rearranged encoder settings, added custom encoder support 2022-11-19 16:23:07 +01:00
Benjamin Vedder eee535960b Use amplitude instead of gain setting for sin/cos encoder 2022-11-18 09:55:40 +01:00
Mitch Lustig 00c03fa5bb Add Gyro filter 2022-11-15 01:47:52 -08:00
Mitch Lustig dd7e5f70b5 Split accel filter by axis 2022-10-09 10:27:04 -07:00
Mitch Lustig 1c4d4a88c1 Add accel filter 2022-09-27 21:30:15 -07:00
Benjamin Vedder 35d2dfcff2 App adc button bitfield and cc disable support 2022-09-27 22:33:40 +02:00
Benjamin Vedder 765ed4d3d4 Added BMS limit mode 2022-09-19 23:47:20 +02:00
Mitch Lustig 2127da0c0f Balance App: Add I-Term Limiter, Remove D-Term Biquad Filters 2022-09-05 18:44:14 -07:00
Benjamin Vedder 324b3a90ba Added uavcan status current mode 2022-09-03 13:38:12 +02:00
Benjamin Vedder 44612cd5c4 Incremented version number 2022-07-18 09:40:43 +02:00
Dado Mista 20796a66c1 Balance app: dual adc switch (single combined switch) support 
Support for combining both adc switches into a single one.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2022-07-16 13:54:47 -07:00
Benjamin Vedder e2b2f91f25 Added saturation compensation modes 2022-05-23 14:42:42 +02:00
Benjamin Vedder 09266def29 Added start_curr_dec parameter and decreased mcconf serialization size 2022-05-22 10:33:33 +02:00
Benjamin Vedder 4a8bb6a399 Added option to disable phase filter fault code 2022-05-19 03:12:07 +02:00
Mitch Lustig af4bcf68b6 Add cascading PID to the balance app 2022-04-21 00:35:15 -07:00
Benjamin Vedder 615dc52007
Merge branch 'master' into configurable_gyro_and_accel_filters 2022-04-19 16:05:27 +02:00
Mitch Lustig 430ec56965 Make magnetometer user configurable 2022-04-17 13:19:35 -07:00
Mitch Lustig a041a3b952 Add support for configuring IMU onboard filters 2022-04-15 21:31:03 -07:00
Benjamin Vedder 60bd5aa1dc Added openloop max current parameter 2022-04-06 12:14:19 +02:00
Benjamin Vedder e5ed5ee914 Added openloop current boost parameter 2022-04-06 11:30:02 +02:00
Benjamin Vedder 3a530ac3f7 App ADC abs min and max voltage limits 2022-04-01 18:43:03 +02:00
Benjamin Vedder c348120325 High-performance and silent HFI 2022-03-23 15:04:30 +01:00
Benjamin Vedder e9d6fd5842 Use bitfields for CAN-messages and support two different CAN status rates 2022-03-11 18:08:28 +01:00
Benjamin Vedder 4958a91670 Added support for custom NTC and PTC motor temperature sensors 2022-01-24 00:36:53 +01:00
Benjamin Vedder 16385f1706 Renamed compression to lzo, added observer offset parameter 2022-01-12 12:27:45 +01:00
Benjamin Vedder af55c79a2a Renamed foc_f_sw to foc_f_zv 2022-01-06 20:44:00 +01:00
Benjamin Vedder 5d385c046b Added UAVCAN raw RPM command 2021-11-24 10:56:45 +01:00
Benjamin Vedder f6e78a09b6 Fixed measured MTPA mode, send ld_lq_diff detection result 2021-11-21 18:17:40 +01:00
Benjamin Vedder f1c4e713d7 Added MTPA modes 2021-10-24 18:10:00 +02:00
Benjamin Vedder 98587c961b Updated inductance calculation, include motor saliency in observer, separate setting for MTPA 2021-10-24 13:25:12 +02:00
Benjamin Vedder 91a19fa8b3 IMU improvements 2021-08-22 11:51:03 +02:00
Mitch Lustig 80de95c372 Update confgenerator 2021-08-19 13:39:54 -07:00
Benjamin Vedder debd1ed4aa Configuration updates 2021-08-16 15:02:20 +02:00
Dado Mista 3f1c7872f4 confgenerator for Balance: configurable speed/angle for each tiltback type 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-15 16:30:11 -07:00
Benjamin Vedder 3c88ecb7aa Added configurable PID loop rate and more AUX port modes 2021-07-12 14:31:01 +02:00
Benjamin Vedder 1ab25a47db Added position PID offset support and KD_PROC term 2021-07-11 20:19:26 +02:00
Dado Mista 813d5b15fa Balance App: introduce new speed based variable tiltback 
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-06-25 21:42:37 -07:00
Benjamin Vedder 75b84f1f2d Added kill switch support 2021-06-13 13:46:27 +02:00
Mitch Lustig d561c2669b Add balance loop time correction 2021-06-06 14:01:42 -07:00
Mitch Lustig de9400e461 Add brake timeout 2021-06-05 16:05:19 -07:00