Telega firmware v0.3 is now available for download from the file server. The firmware can be updated via CAN using the UAVCAN GUI Tool.
Changes from v0.2:
- 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:
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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.
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- Parameter renamings:
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ctl.fw_v_boost→m.fw_volt_boost.
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