Fix for issue where using sensorless mode with input mode VEL_RAMP would cause the motor to try and reach a very high speed at the end of the sensorless ramp

CHANGELOG.md

@@ -15,6 +15,9 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits.
 * `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property.
 * `axis.config.counts_per_step` is now `axis.config.turns_per_step`
+* Outputs of `axis.sensorless_estimator` are now in turns/s instead of electrical rad/s
+* Fixed bug of high current during lockin-ramp caused by `motor::update()` expecting a torque command instead of current
+* Fixed bug where commanded velocity was extremely high just after sensorless ramp when using `input_mode` INPUT_MODE_VEL_RAMP caused by `vel_setpoint` and `axis.config.sensorless_ramp.vel` being in different units
 
 
 # Releases

Firmware/MotorControl/axis.cpp

@@ -555,7 +555,7 @@ void Axis::run_state_machine_loop() {
                 if (status) {
                     // call to controller.reset() that happend when arming means that vel_setpoint
                     // is zeroed. So we make the setpoint the spinup target for smooth transition.
-                    controller_.vel_setpoint_ = config_.sensorless_ramp.vel;
+                    controller_.vel_setpoint_ = config_.sensorless_ramp.vel / (2.0f * M_PI * motor_.config_.pole_pairs);
                     status = run_sensorless_control_loop();
                 }
             } break;