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Expecting all current sense errors fixed, increasing max mod

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Oskar Weigl
2017-05-16 17:53:40 -07:00
parent b56d6c92db
commit b24cb4ed75
1 changed files with 2 additions and 2 deletions
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MotorControl/low_level.c
+2 -2
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@@ -1114,8 +1114,8 @@ static bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
float mod_q = vfactor * Vq;
// Vector modulation saturation, lock integrator if saturated
// TODO make maximum modulation configurable (currently 40%)
float mod_scalefactor = 0.20f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
// TODO make maximum modulation configurable
float mod_scalefactor = 0.80f * sqrt3_by_2 * 1.0f/sqrtf(mod_d*mod_d + mod_q*mod_q);
if (mod_scalefactor < 1.0f)
{
mod_d *= mod_scalefactor;