Rejoice, Telega v0.2 is available! Download the binary from the file server. The firmware can be updated via CAN using the UAVCAN GUI Tool.
Changes from v0.1:
- Improved stability, especially during rapid acceleration and deceleration.
- Field weakening (flux weakening); please contact us for setup instructions – official documentation will be released later.
- Fixed the power-up issue where the device would refuse to boot unless the power supply voltage slope is steep enough.
- RPM control loop stability improvements.
- Motor characterization improvements.
- Faster boot-up – approx. 200 milliseconds from power on to ready to run.
- Faster and more robust spin-up process.
- Motor self-test at power-up is not performed by default; can be enabled via
ctl.pwron_slftst. - Selectable spool-down policy: either controlled braking (default) or immediate power stage deactivation (set
ctl.hard_stop). - Parameter renamings:
-
m.spup_current_l→m.spup_curr_begn -
m.spup_current_h→m.spup_curr_end -
m.phi_milliweber→m.flux_linkage(change of units: milliweber → weber) -
m.rs_ohm→m.resistance -
m.ld_microhenry→m.induct_direct(change of units: microhenry → henry) -
m.lq_microhenry→m.induct_quad(change of units: microhenry → henry) -
m.eangvel_rampup→m.eangvel_accel -
m.eangvel_rampdn→m.eangvel_decel
-
The quick-start entries above have been updated to match v0.2. If you still care about v0.1, use the edit history to reach the outdated entries.
Proper documentation will be available with Mitochondrik, stay tuned. We are hideously behind the schedule, but there are good reasons for that – testing takes time, and certain complex features (such as flux weakening) require a lot of effort to implement and validate. Our current focus is stabilization and documentation.
On a related note, Telega v1.0 will be equipped with UAVCAN v1.0; read more here: Stockholm Summit recap - Development & Maintenance - OpenCyphal Forum.