Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-22 16:14:37 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix sensorless estimator error

Browse Source
This commit is contained in:
Samuel Sadok
2020-12-07 12:21:45 +01:00
parent 049ac24218
commit 8c695fa834
1 changed files with 5 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/sensorless_estimator.cpp
+5
View File
@@ -36,6 +36,11 @@ bool SensorlessEstimator::update() {
// TODO: we read values here which are modified by a higher priority interrupt.
// This is not thread-safe.
auto current_meas = axis_->motor_.current_meas_;
if (!axis_->motor_.is_armed_) {
// While the motor is disarmed the current is not measurable so we
// assume that it's zero.
current_meas = {0.0f, 0.0f};
}
if (!current_meas.has_value()) {
error_ |= ERROR_UNKNOWN_CURRENT_MEASUREMENT;
reset(); // Reset state for when the next valid current measurement comes in.