From 8b449f2a2ebf1c91dc6762033f96868ea8ec8fb2 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@rapyuta-robotics.com>
Date: Fri, 3 Feb 2017 19:04:20 +0100
Subject: [PATCH] make maximum modulation even safer due to current sense
 errata

---
 MotorControl/low_level.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index 86a56660..f32a30be 100644
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -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;