Hello all,
I am fairly new to this field of ESC Tuning so I apologize if I have made a simple mistake. I quite simply cannot figure it out though.
So the problem, I am currently utilizing the Myxa ESC with Telega V1 firmware. Currently this ESC is connected to a BlueRobotics T200 thruster. I have been messing around with the velocity controller, as the torque controllers will not work for our controls system, and am getting some rather weird behavior. I understand from previous posts that the pulsing that occurs from a 0 setpoint is expected behavior. When I send a valid value setpoint such as 20 m/s however, it simply staying pulsing. I currently have the INDI control strategy selected as well.
We have calculated the mass moment of intertia to be 4.014e-6. In some post I saw here it was recommended to set that value to 1e-06 which is what it is set to in the attached configuration.
Also when attempting to troubleshoot this behavior, the dynamics publication simply returns nan for all fields except force.
---
1301:
timestamp: {microsecond: 0}
value:
kinematics:
base: {position: .nan, velocity: .nan}
acceleration: .nan
force: 0.0
I am very much at a loss of where to start and any help would be appreciated.
exp_config.yaml (3.9 KB)