Rename current -> torque mode vel limit

pluggee · Aug 4, 2021 · 759c85c · 759c85c
1 parent dd44ab3
commit 759c85c
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
@@ -333,7 +333,7 @@ bool Controller::update() {
     }
 
     // Velocity limiting in current mode
-    if (config_.control_mode < CONTROL_MODE_VELOCITY_CONTROL && config_.enable_current_mode_vel_limit) {
+    if (config_.control_mode < CONTROL_MODE_VELOCITY_CONTROL && config_.enable_torque_mode_vel_limit) {
         if (!vel_estimate.has_value()) {
             set_error(ERROR_INVALID_ESTIMATE);
             return false;

diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
@@ -43,7 +43,7 @@ class Controller : public ODriveIntf::ControllerIntf {
         bool enable_gain_scheduling = false;
         bool enable_vel_limit = true;
         bool enable_overspeed_error = true;
-        bool enable_current_mode_vel_limit = true;  // enable velocity limit in current control mode (requires a valid velocity estimator)
+        bool enable_torque_mode_vel_limit = true;  // enable velocity limit in current control mode (requires a valid velocity estimator)
         uint8_t axis_to_mirror = -1;
         float mirror_ratio = 1.0f;
         float torque_mirror_ratio = 0.0f;

diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
@@ -900,9 +900,9 @@ interfaces:
         attributes:
           gain_scheduling_width: float32
           enable_vel_limit: bool
-          enable_current_mode_vel_limit:
+          enable_torque_mode_vel_limit:
             type: bool
-            doc: Enable velocity limit in current control mode (requires a valid velocity estimator).
+            doc: Enable velocity limit in torque control mode (requires a valid velocity estimator).
           enable_gain_scheduling: bool
           enable_overspeed_error: bool
           control_mode: ControlMode