Users of Sadulli Grosso can switch to Telega v1.0 using the following configuration parameters:
# Refer to the Mitochondrik-LV datasheet for the explanation of how the parameter values have been found.
vsi.bridge_resistance: [0.003, 0.006, 0.003, 0.006, 0.003, 0.003] # [ohm]
vsi.phase_current_gain: [33.333333333333, 33.333333333333, 8.333333333333, 8.333333333333] # [ampere/volt]
vsi.phase_current_stderr: [0.2, 0.2, 0.1, 0.1] # [ampere]
vsi.thermistor_v2k: [223.15, 100.0, 0.0] # for MCP9700
motor.current_ctl_bwr: 0.04
motor.current_max: 38.0
motor.mechanical_ratio: 12
motor.inductance_dq: [1.2437396435416304e-05, 1.2437396435416304e-05]
motor.resistance: 0.03441929444670677
motor.flux_linkage: 0.0012681075604632497
motor.current_ramp: 5000.0
motor.voltage_ramp: 100.0
# The thermistor coefficients are valid for:
# R_pull = 1.2 kohms; R_io = 0; V_pull = 3.3 V
# Thermistor models: KTY81/120, KTY81/110, KTY81/121, KTY81/122, KTY81/150, 102PS1J, 102PS1G.
# If the temperature reading is incorrect, see https://telega.zubax.com/motor_model.html#motor-temperature-sensor
motor.thermistor_v2k: [151.24172662, 36.46076996, 40.65372514]
aux.pull: +1 # Pull up the thermistor input.
sys.debug: false # Turn off the in-circuit debug interfaces to enhance EMI immunity.
sys.golden: sys. vsi. motor. aux.pull # Retain these parameter groups across a factory reset.
# Cyphal topics
# y sub 100:zubax.physics.dynamics.DoF3rdTs 101:zubax.physics.electricity.PowerTs --sync --redraw
# y sub 103:zubax.telega.Temperatures
uavcan.pub.dynamics.id: 100
uavcan.pub.power.id: 101
uavcan.pub.temperature.id: 103
uavcan.sub.setpoint_rat_torque.id: 110
uavcan.sub.setpoint_rat_voltage.id: 111
To deploy this configuration using Yakut, simply save it as sadulli.yaml and then go like this, where 125 is the node-ID (several node-IDs can be specified at once):
y rb 125 < sadulli.yaml