Velocity Control Mode Not Spinning Up

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1

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)

2

I think it might be caused by a bad transition from the spinup state to the normal state. I have a T200 next to me, let me try your config locally. I will report back later.

3

Turns out my issues was quite simply not publishing fast enough with the yakut tool. It seems as though the timeout was expiring before it could spin-up completely. Now I am getting some oscillation at lower speeds so I will begin troubleshooting that.
I appreciate any feedback you might find when testing.
Thank you very much!

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