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make maximum modulation even safer due to current sense errata

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Oskar Weigl
2017-02-03 19:04:20 +01:00
parent 156b6c5c83
commit 8b449f2a2e
1 changed files with 1 additions and 1 deletions
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MotorControl/low_level.c
+1 -1
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@@ -662,7 +662,7 @@ static void FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
//Vector modulation saturation, lock integrator if saturated
//@TODO make maximum modulation configurable (currently 40%)
float mod_scalefactor = 0.40f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
float mod_scalefactor = 0.20f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
if (mod_scalefactor < 1.0f)
{
mod_d *= mod_scalefactor;