As far as I know, to achieve field-oriented control of the motors, the Sapog/Télega has a good estimation of the shaft position. In the project I am working on, I need to know the real-time absolute shaft position. I am wondering whether Sapog/Télega provide an option to read the angle value. I came up with some possible ways, but am not sure which one might work based on currently available documentations. Could you tell me which one would work?
Use Babel or DroneCode Probe to connect with Orel 20 ESC. From Sapog manual, shaft angle is not included in the normal UAVCAN communication. Is there a way to read inner parameters(like shaft angle) of the ESC? If that is the case, what should I do? What is the difference between Babel or DroneCode Probe in terms of reading inner parameters?
Connect Myxa to PC with a USB cable. From the Kucher GUI video, I saw a parameter named electrical_angle. Is it the parameter indicating the absolute shaft position. In the video, the GUI was not updating electical_angle. Is there a way I can read this realtime value?
Another question is if there exists a way to know the shaft position, how is the accuracy of the estimation?
Thanks in advance.