Homepage Knowledgebase GitHub

Issues When Upgrading to Telega v0.3

I’m having difficulty updating my Myxas to Telega v0.3.

The update process appears to run smoothly using UAVCAN GUI Tool - the log messages reported by the bootloader indicate the firmware is being downloaded onto the device.

After that process is finished, the Myxa switches to initialization mode, but never seems to progress any further than the bootloader. It appears to be stuck in a perpetual reboot cycle every 10 seconds.

Some feedback would be appreciated from anyone who has successfully updated to v0.3! If any further info from me is required please let me know.

If you have a USB-UART adapter, can you please connect to the debug port (at 115200-8N1) and see what does it have to say about this failure? It is most likely caused by the lack of CoA; if yes, we have a mitigation for that.

Unfortunately I do not have such an adapter on hand - will add to my shopping list though. Is there a means for me to try the mitigation strategy in the interim?

Yes. Can you please run the update sequentially: first, upload v0.1, then v0.2, then v0.3? The reason is that there are certain permanent modifications to your hardware being made by v0.2 which are required for v0.3 to work.

I have the same issue upgrading to v0.3. Pavel, I cannot try your suggestion, since I get an error when uploading v0.1. I don’t recall the exact error, but it was something about a ‘bad firmware image’.

By the way, is there a change log for v0.3? I cannot find any information on it.


If you are upgrading the device which was bought earlier than the 2Q2019, you have to patch it.
Just download and flash this binary patch (265.5 KB). Then download and flash v0.3 firmware from the server. It should work.

Telega v0.3 changelog

  • The maximum no-load motor speed is increased by 18-25% (depending on the motor KV value).
  • The motor d-axis and q-axis currents and voltages are published in uavcan.protocol.debug.KeyValue UAVCAN messages. Keys are “idf”, “iqf”, “udf” and “uqf”.
  • Fixed the switching issue between voltage and speed control modes during field weakening activation and deactivation.
  • Fixed the motor speed saturation issue at 80-90% setpoint value in the ratiometric voltage control mode.
  • Introduced new parameters to improve motor characterization:
    • mid.phi.curr_bw - the current loop bandwidth for the motor flux linkage detection procedure.
    • mid.l.curr_bw - the current loop bandwidth for the motor inductance detection procedure.
  • Parameter renamings:
    • ctl.fw_v_boost --> m.fw_volt_boost