Updated changelog, made phase check beta current filtering not depend…

… on control loop rate
matevzsi · Dec 10, 2020 · 95d5df6 · 95d5df6
1 parent d4a03f4
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,7 @@
 # Unreleased Features
 Please add a note of your changes below this heading if you make a Pull Request.
 ### Added
+* Added phase balance check to motor calibration and MOTOR_ERROR_UNBALANCED_PHASES to error enums
 * Added polarity and phase offset calibration for hall effect encoders
 * [Mechanical brake support](docs/mechanical-brakes.md)
 * Added periodic sending of encoder position on CAN

diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
@@ -29,7 +29,7 @@ struct ResistanceMeasurementControlLaw : AlphaBetaFrameController {
         if (Ialpha_beta.has_value()) {
             actual_current_ = Ialpha_beta->first;
             test_voltage_ += (kI * current_meas_period) * (target_current_ - actual_current_);
-            I_beta_ += kIBetaFilt * (Ialpha_beta->second - I_beta_);
+            I_beta_ += (kIBetaFilt * current_meas_period) * (Ialpha_beta->second - I_beta_);
         } else {
             actual_current_ = 0.0f;
             test_voltage_ = 0.0f;
@@ -69,7 +69,7 @@ struct ResistanceMeasurementControlLaw : AlphaBetaFrameController {
     }
 
     const float kI = 1.0f; // [(V/s)/A]
-    const float kIBetaFilt = 0.01f;
+    const float kIBetaFilt = 80.0f;
     float max_voltage_ = 0.0f;
     float actual_current_ = 0.0f;
     float target_current_ = 0.0f;