Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-20 22:14:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix typo

Browse Source
This commit is contained in:
Oskar Weigl
2019-10-28 20:39:23 -07:00
parent cbae7c5b85
commit e19e857360
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/motor.cpp
+1 -1
View File
@@ -360,7 +360,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_pha
ictrl.Id_measured += ictrl.I_measured_report_filter_k * (Id - ictrl.Id_measured);
// Check for violation of current limit
float I_trip = effective_current_lim() * config_.current_lim_margin;
float I_trip = effective_current_lim() + config_.current_lim_margin;
if (SQ(Id) + SQ(Iq) > SQ(I_trip)) {
set_error(ERROR_CURRENT_LIMIT_VIOLATION);
return false;