Added ld_lq_diff to inductance measurement ui

commands.cpp

@@ -335,7 +335,11 @@ void Commands::processPacket(QByteArray data)
     case COMM_DETECT_MOTOR_R_L: {
         double r = vb.vbPopFrontDouble32(1e6);
         double l = vb.vbPopFrontDouble32(1e3);
-        emit motorRLReceived(r, l);
+        double ld_lq_diff = 0.0;
+        if (vb.size() >= 4) {
+            ld_lq_diff = vb.vbPopFrontDouble32(1e3);
+        }
+        emit motorRLReceived(r, l, ld_lq_diff);
     } break;
 
     case COMM_DETECT_MOTOR_FLUX_LINKAGE: {

commands.h

@@ -92,7 +92,7 @@ class Commands : public QObject
     void decodedAdcReceived(double value, double voltage, double value2, double voltage2);
     void decodedChukReceived(double value);
     void decodedBalanceReceived(BALANCE_VALUES values);
-    void motorRLReceived(double r, double l);
+    void motorRLReceived(double r, double l, double ld_lq_diff);
     void motorLinkageReceived(double flux_linkage);
     void encoderParamReceived(double offset, double ratio, bool inverted);
     void customAppDataReceived(QByteArray data);

utility.cpp

@@ -513,12 +513,13 @@ QVector<double> Utility::measureRLBlocking(VescInterface *vesc)
 
     vesc->commands()->measureRL();
 
-    auto conn = connect(vesc->commands(), &Commands::motorRLReceived, [&res](double r, double l) {
+    auto conn = connect(vesc->commands(), &Commands::motorRLReceived, [&res](double r, double l, double ld_lq_diff) {
         res.append(r);
         res.append(l);
+        res.append(ld_lq_diff);
     });
 
-    waitSignal(vesc->commands(), SIGNAL(motorRLReceived(double, double)), 8000);
+    waitSignal(vesc->commands(), SIGNAL(motorRLReceived(double, double, double)), 8000);
     disconnect(conn);
 
     return res;

vesc_tool.pro

@@ -10,7 +10,7 @@ VT_INTRO_VERSION = 1
 VT_CONFIG_VERSION = 2
 
 # Set to 0 for stable versions and to test version number for development versions.
-VT_IS_TEST_VERSION = 43
+VT_IS_TEST_VERSION = 44
 
 VT_ANDROID_VERSION_ARMV7 = 95
 VT_ANDROID_VERSION_ARM64 = 96

widgets/detectfoc.cpp

@@ -134,8 +134,8 @@ void DetectFoc::setVesc(VescInterface *vesc)
     mVesc = vesc;
 
     if (mVesc) {
-        connect(mVesc->commands(), SIGNAL(motorRLReceived(double,double)),
-                this, SLOT(motorRLReceived(double,double)));
+        connect(mVesc->commands(), SIGNAL(motorRLReceived(double,double,double)),
+                this, SLOT(motorRLReceived(double,double,double)));
         connect(mVesc->commands(), SIGNAL(motorLinkageReceived(double)),
                 this, SLOT(motorLinkageReceived(double)));
         connect(mVesc->mcConfig(), SIGNAL(paramChangedDouble(QObject*,QString,double)),
@@ -145,7 +145,7 @@ void DetectFoc::setVesc(VescInterface *vesc)
     }
 }
 
-void DetectFoc::motorRLReceived(double r, double l)
+void DetectFoc::motorRLReceived(double r, double l, double ld_lq_diff)
 {
     if (!mRunning) {
         return;
@@ -162,6 +162,7 @@ void DetectFoc::motorRLReceived(double r, double l)
         mVesc->emitStatusMessage(tr("FOC Detection Result Received"), true);
         ui->resistanceBox->setValue(r * 1e3);
         ui->inductanceBox->setValue(l);
+        ui->inductanceDiffBox->setValue(ld_lq_diff);
         ui->kpBox->setValue(0.0);
         ui->kiBox->setValue(0.0);
         on_calcKpKiButton_clicked();
@@ -224,6 +225,7 @@ void DetectFoc::on_applyAllButton_clicked()
     if (mVesc) {
         double r = ui->resistanceBox->value() / 1e3;
         double l = ui->inductanceBox->value();
+        double ld_lq_diff = ui->inductanceDiffBox->value();
         double lambda = ui->lambdaBox->value() / 1e3;
 
         if (r < 1e-10) {
@@ -247,8 +249,16 @@ void DetectFoc::on_applyAllButton_clicked()
             return;
         }
 
+        if (ld_lq_diff > (l / 4.0)) {
+            QMessageBox::information(this,
+                                  tr("Salient Motor"),
+                                  tr("This motor has some saliency and could benefit from the MTPA-algorithm. You "
+                                     "can activate it from the FOC->Advanced page. Be careful when testing!"));
+        }
+
         mVesc->mcConfig()->updateParamDouble("foc_motor_r", r);
         mVesc->mcConfig()->updateParamDouble("foc_motor_l", l / 1e6);
+        mVesc->mcConfig()->updateParamDouble("foc_motor_ld_lq_diff", ld_lq_diff / 1e6);
         mVesc->mcConfig()->updateParamDouble("foc_motor_flux_linkage", lambda);
 
         mVesc->emitStatusMessage(tr("R, L and \u03BB applied"), true);
@@ -287,6 +297,7 @@ void DetectFoc::updateColors()
 {
     bool r_ok = ui->resistanceBox->value() > 1e-10;
     bool l_ok = ui->inductanceBox->value() > 1e-10;
+    bool l_diff_ok = ui->inductanceDiffBox->value() > 1e-10;
     bool lambda_ok = ui->lambdaBox->value() > 1e-10;
     bool gain_ok = ui->obsGainBox->value() > 1e-10;
     bool kp_ok = ui->kpBox->value() > 1e-10;
@@ -302,6 +313,8 @@ void DetectFoc::updateColors()
                                      arg(r_ok ? style_green : style_red));
     ui->inductanceBox->setStyleSheet(QString("#inductanceBox {%1}").
                                      arg(l_ok ? style_green : style_red));
+    ui->inductanceDiffBox->setStyleSheet(QString("#inductanceDiffBox {%1}").
+                                     arg(l_diff_ok ? style_green : style_red));
     ui->lambdaBox->setStyleSheet(QString("#lambdaBox {%1}").
                                  arg(lambda_ok ? style_green : style_red));
     ui->obsGainBox->setStyleSheet(QString("#obsGainBox {%1}").

widgets/detectfoc.h

@@ -41,7 +41,7 @@ class DetectFoc : public QWidget
     bool lastOkValuesApplied() const;
 
 private slots:
-    void motorRLReceived(double r, double l);
+    void motorRLReceived(double r, double l, double ld_lq_diff);
     void motorLinkageReceived(double flux_linkage);
     void paramChangedDouble(QObject *src, QString name, double newParam);