From fafcf65b4c8553fd7817ba5ced3bc0d6223a2b2f Mon Sep 17 00:00:00 2001 From: Cosmin Gorgovan Date: Sat, 13 Jun 2020 16:42:56 +0100 Subject: [PATCH] Add option to disable HFI when stopped in duty cycle and speed modes This introduces the HFI "Min ERPM with no input" option for firmware 5.02. This option dynamically disables HFI in the duty cycle or speed modes when 0 duty cycle / speed is commanded and the ERPM of the motor is lower than the set value. --- res/config/5.02/info.xml | 1008 +++++++ res/config/5.02/parameters_appconf.xml | 3232 +++++++++++++++++++++ res/config/5.02/parameters_mcconf.xml | 3630 ++++++++++++++++++++++++ res_config.qrc | 3 + 4 files changed, 7873 insertions(+) create mode 100644 res/config/5.02/info.xml create mode 100644 res/config/5.02/parameters_appconf.xml create mode 100644 res/config/5.02/parameters_mcconf.xml diff --git a/res/config/5.02/info.xml b/res/config/5.02/info.xml new file mode 100644 index 000000000..e3bb302e5 --- /dev/null +++ b/res/config/5.02/info.xml @@ -0,0 +1,1008 @@ + + + + + Firmware Version + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The firmware version(s) that this version of VESC Tool supports.</span></p></body></html> + + 0 + 5.02 + + + Soft Battery Cutoff Calculator + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery.</span></p></body></html> + + + + Detect BLDC Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Spin up the motor in delay commutation mode and try to measure the following parameters:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cycle Integrator Limit</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">BEMF Coupling</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall Sensor Table</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The settings mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current (I)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The current to use for spinning up the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">ERPM (ω)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The minimum speed for the delay commutation mode to start the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Duty (D)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">If the motor is not able to spin up properly these settings can be tweaked. Symptoms:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-style:italic;">The motor starts to spin, but is too weak to reach enough speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the current setting.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-style:italic;">The motor cogs and is unable to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif'; font-style:italic;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-style:normal;">Increase or decrease the current.</span></li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has low inertia increase ERPM.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-style:italic;">The motor spins up properly, but does not spin at the end of the detection.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the duty and try again. This is usually needed for low KV motor when using low voltage, such as ebike motors.</li></ul></body></html> + + + + Detect FOC Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAAZAAAAAsCAYAAABLwO52AAAACXBIWXMAAC4jAAAuIwF4pT92AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAGMBJREFUeJztnXtU1NW+wD+/efASEpWHJCK+g +MwETC5HzVArH5WPsjzVKk1Ls1PZsbvsdlPpddZtSddHnI6WUbflyTqZCaZlpD1MzPD6iERC8ZoiiiKhM +AEDzMy+f2wZ/Tk8BphhBpjPWnutWfu3f/u3f7/fnt/e+/vacIWBwPPAXqACEB00mYDfgS3Aw0APPLSVP 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+/sIQzqj3dxcwU7Al8BjwDlXN6SDEIpU5k92dUPswdvb22Zjstra2jZFePb19bXR2xqNRrtCybcVHx8fe +vfubY05aDKZqKys5OLFi+1uWKRDDiCtj2DmwYMHD25MTU2NjZFGW6murm43MdG1GI1GTp486ZJrX4PQ4 +KLdx1xA0/GdPVxLLV3H4qeGrnOvjsCMm8da89AuVGlwk70hnIxA2tB7sJ9LdA0lrgU4jQzl78E+KpE+S +p3eltpDk+RqgE10oNAHreQCrtnnoyNjBpqPOdPxuYh03nSrCLVuTjUyLLzj90j10FEwIyM8Mwi5N4AJN +wg74IRUDaxEhkz30DL8kU5snbVvmIAPL9+nh5YRAPyTzts3PKnp/80O5NgBwHDk7mSdrTMYgH8AVzYn8 +dBSbkCGVrk2JlNHTwZgI+4XA6sjEYrc0fAPXP8+Pal9Uh0yeGc8XNkBrxi5Z/ZZ5GwsEBmDpyNSv53rD +iAFGZCwbTu3dG1KgSykzDsAuA65b3tHtNyzIMUue5B7jP+dLhIBwElUIkOtFCBDzvdEfjc6Yt/w0DQG5 +BYBbyEDwP4K8P/5NKktlEzCYQAAAABJRU5ErkJggg==" width="400" height="44" /></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Detect and calculate the necessary FOC motor and control parameters. The procedure is the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Measure <span style=" font-weight:600;">R</span> and <span style=" font-weight:600;">L</span> and wait for the detection result. When the detection result arrives, <span style=" font-weight:600;">KP</span>, <span style=" font-weight:600;">KI</span> and <span style=" font-weight:600;">Observer Gain</span> will be calculated.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Measure <span style=" font-weight:600;">λ</span> and wait for the detection result. If the detections fails, tweak <span style=" font-weight:600;">I</span>, <span style=" font-weight:600;">D</span> and <span style=" font-weight:600;">ω </span>as described below and try again until it works.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the <span style=" font-weight:600;">Apply</span> button to apply the measured and calculated parameters.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The following parameters are measured:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Resistance (R)</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inductance (L)</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Flux Linkage (λ)</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The following parameter are calculated from </span><span style=" font-family:'Sans Serif'; font-weight:600;">R</span><span style=" font-family:'Sans Serif';"> and </span><span style=" font-family:'Sans Serif'; font-weight:600;">L</span><span style=" font-family:'Sans Serif';">:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the current controller (KP)</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the current controller (KI)</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the observer</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">For measuring the flux linkage the motor needs to spin up, which is controlled by the </span><span style=" font-family:'Sans Serif'; font-weight:600;">I</span><span style=" font-family:'Sans Serif';">, </span><span style=" font-family:'Sans Serif'; font-weight:600;">D</span><span style=" font-family:'Sans Serif';"> and </span><span style=" font-family:'Sans Serif'; font-weight:600;">ω</span><span style=" font-family:'Sans Serif';"> startup settings. Notice that the resistance has to be measured first. The startup settings mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current (I)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The current to use for spinning up the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Duty (D)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The duty cycle where to measure the flux linkage.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">ERPM (ω)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The minimum speed for the delay commutation mode to start the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">If the motor is not able to spin up properly these settings can be tweaked. Symptoms:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-style:italic;">The motor starts to spin, but is too weak to reach enough speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the current setting.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-style:italic;">The motor cogs and is unable to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif'; font-style:italic;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-style:normal;">Increase or decrease the current.</span></li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has low inertia increase ERPM.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first.</span></p></body></html> + + + + Detect FOC Encoder Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Detect the following encoder parameters:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Offset</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Ratio</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inverted</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities.</span></p></body></html> + + + + Detect FOC Hall Sensor Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.</span></p></body></html> + + + + Detect IMU Calibration + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Calibrate the IMU. This will set the curent IMU orientation to level. If your Pitch/Roll axes don't end up in the desired orientation, you can supply a yaw value.</span></p></body></html> + + + + NRF Pairing + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">NRF Nunchuk</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent.</p></body></html> + + + + CAN Forwarding + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page.</p></body></html> + + + + RT data logging + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The output format is as follows:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Ubuntu';">ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Ubuntu';">temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Ubuntu';">amp_hours_charged;watt_hours;watt_hours_charged;tachometer;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Ubuntu';">tachometer_abs;position;fault_code;vesc_id</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The values mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">ms_today</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">temp_mos</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">MOSFET temperature in °C.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">temp_mos_1, temp_mos_2, temp_mos_3</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Individual MOSFET temperatures for the legs in the power stage in </span><span style=" font-family:'Ubuntu';">°C. Only available on hardware with individual temperature sensors, such as the VESC 75/300.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">temp_motor</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor temperature in °C.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">current_motor</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">current_in</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Input current in A.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">id, iq</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">D-axis and Q-axis current of the motor. Only available in FOC mode.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">rpm</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">duty_now</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Modulation, range -1.0 to 1.0</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">amp_hours</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Ampere hours consumed from the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">amp_hours_charged</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Ampere hours fed back to the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">watt_hours</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Watt hours consumed from the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">watt_hours_charged</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Watt hours fed back to the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">tachometer</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">tachometer_abs</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Same as </span><span style=" font-family:'Ubuntu'; font-weight:600;">tachometer</span><span style=" font-family:'Ubuntu';">, but couts the absolute value</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">position</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">fault_code</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Current fault code.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">vesc_id</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">CAN ID of this VESC.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p></body></html> + + + + Motor Setting Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Motor Settings</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This is where you can edit your motor settings. It is </span><span style=" font-family:'Sans Serif'; color:#ff0000;">very important</span><span style=" font-family:'Sans Serif';"> to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the </span><span style=" font-family:'Sans Serif'; font-weight:600;">Motor Setup Wizard</span><span style=" font-family:'Sans Serif';">. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAWtJREFUSInt1L9LlVEYB/CPP9I7iFAkpojgq +lOCg0u4COIi0aAipuDQv+Ag4dbQ7ChUSNASNIWLiAjSkEugIAjXSREUU0QMUYdzgpfTe7tXsu1+4YX3P +N/nnO95Hr7PoYoq/hfq/sK14TyzbsE0+rCP0yS/BuN4hiYUy4k34Fvc8Bu9uME13uTs6cJl5BezRG0Jk +Zl447dRMIsfGEUhiU/gEMfpYXkij/FaKL8Pkwn/Ca0YyMQeRJElXFUiMocn8b8G83iU4YtYxctMrF9o1 +8ec8/4Q6cGrJNaB2ST2HsOCGWAKG9ipRORaKHsMF1jAC6wkuV8j/xwPMYJ3eQJQn6y341cQeruJz5Hrz +eSdxfgUfglt/VKpyF3wQXBhaxQ4QWNeYikLV4Lv2EJnFCyJf6nkCkPCdO/dRaRdcFiD8OR0YxA/5fhfG +L7DcrdJ3642PEUzlnEkuKdWmPRdrMuZ6ogbHGBNmeqqqOJ+cAulnEDcgz/2JwAAAABJRU5ErkJggg==" width="25" height="25" /><br /><span style=" font-weight:600;">Read Motor Configuration</span>. This button will read the current motor configuration from the VESC to VESC Tool.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#ff0000;">Warning</span>: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAbJJREFUSInt002IjlEUB/Cfd8Y0xTsWGjYWE +7MkKZRYqMl3Yulj7CykbC2sbJSsLKSJohEWk0RZiIhYKmUiSmoWamgsNIbxORb3PLpuzzAWdu+/nnru+ +frfc87/0kIL/wuz0Ibb6C18U+jHg5q8fqzBGI5GbI5lOBD/xyvjDvyI4Oq7gUb427A0K3Iu4j9jec0lB +vA9YlbkHT3OCD4VRbdjHDszkjEM40RBMDd890qS9fiCb0FyskjswHm8w+IgGcVhjKAzi92N9zhUktyJ7 +zTeoLtmBF14hVMZSQ8+YFs2kZu4gH05ybzoYg8WYG8NQYVjeBlFRjEb1zAU/h5Moi8naWAR2vEcb3HpD +yTPMB/NOE9hEJuxMC74GvfzpAY+RnDT39GFr1LnFW5JotgVJBel3f5GMiKpYcMMSDbiKSYy2wSu4AiW4 +HKZ1JDmdgYHI2g69GELztb4BqW3dBcvpivQxBNpL6tqLrJV2td1aX+VutqzuM7i/GvxlXE8Cg3hofSQH +knqWYeVkor2K+adYXK6Dkp0SFK+KilpWFLbJukNVOjF6sJWohtrMWem5C208O/4CY0gaupzHd1QAAAAA +ElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Motor Configuration</span>. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#ff0000;">Warning</span>: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1714636915.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAWdJREFUSInt1L9LlVEcx/FXYupYkJhLEDTEx +cmQaKpcjJZoCCLJxMF/wKFFBJeKaG20KFSQtpbGRIlCcGhRiAhJIZUyEH/itdvwnEuPD+c+XC+03Q88c +L7f8/2c9+E533Ooq67/pROZ+CK6I3VrmMGdEL/FSmStuziNRbyvBD2L6+jBNp6G+BI6UcIfPI54z2M/z +I9VAqTVgk0MpHJlyGd8CzVpDWMZP7OQhmqIGU2hDddSuZPoxTiKWUMtkCVMoy+VuyL5XZMxQy0QeIWba +A3xA3zEl1hxYybuQAFNYa4LW9iRdFhZ77CL23iDWxiqdoeFsGAp8z3x7+Dvhdrn+IB+/MIpNGNVFd31T +NKGZcB3Se9nIZexh694EXJRSOxMHuFHGJcwgt+Runks4Bxe5+06BtnAaAB8wkQFbxE3JK/E7HEh8BJze +IiDHP+65GIe5kHy1O7o23YGg7iQ42nAfVytFVpXXcfTX2+vTfc/khePAAAAAElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Write Motor Configuration</span>. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Every motor setting has three small buttons to the right of its value. They have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAApUlEQ +VQ4je2UOwoCMRRFz4iduAOX4AJ0HwqW2YIrcQfpZzYy1rMGG8sB21Gb+yCIUZOJ2HjgwsuHk0cggR8xU +4pQAV6pSggdcFXcWNkS6IGb0msuiznQBTJLp7Vk/BOZxafKHDC8EA5E7nMaEZ6Bneo9sFbdAgfVl9Quj +TrorHm3eZJ7yl/4PWFx7PdYAKuRriNwssGG+Kv4NNvHDu015NKGHRbjDvLBOhzaahdWAAAAAElFTkSuQ +mCC" width="20" height="20" /><br /><span style=" font-weight:600;">Read Current Value</span>. This button will read the current value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABy0lEQ +VQ4ja3UuWsUUBAG8N9uNCbe8T4LDdqpYGNhBCWQxsZCRMWjEBsbK5vUVv4DBkQR7ETwQkUhoCBBRAQRQ +RuPRDwKC2M0mpCsxcyaZY+sRQYejzfvvZlvvjmYYSk00C/BBqzCbPzCh1y//9d4Cw6gHz8xiVLFmsRXX +MK2ZgiLuIwjiaYfT/ERY5iPTdiN7RjHcVxtZHhnIriO5U0i2YHBdFYjxdxXa8xnPSlgbb2LWVXnfejBQ +wxgCH+wEJvRja2C72llvyD+guBvRG1SJkwlZSB1TRG+xUksRifWoDUdvMc7kZC+dNgU4QTu4qjIarvge +anIbiWAeYKKaQ2+wGhVqCVRSl1Vf3rybhjn03FNyOfwAHtE8a5DG+7gE07gYr79nPsCPFZFQRnhoCjYj +jpRXEv0nXlehidpeAhz6xkcy30Ez3EbZ0WZjCbSshSwCGcSXRdThV2WUxnWPdFu3blaMQdfKt6W8D11h +Qz9n+xKLzc0br1XgscVFboi7osJtF7VxZU0+gM30YtjYgJtwSFRVi9xGHtxK//01UPQgoN4pHZ8vRZ8n +RZlUtaPi85pLxtpNBA6sNFUpwyLJH3DSpGANjzDmwY2Zkb+AmCVfJ8j/k4uAAAAAElFTkSuQmCC" width="20" height="20" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Value</span>. This button will read the default value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1350490027.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABiUlEQ +VQ4ja3UQUtVURAH8F8iiOt4lRuJBF/wAj9Drtzk24maguuo71G67xtIayNa5t6lqagrFVMRdGdQ1LPFm +fu8He99mvSHA/fcmf//zJyZM/xn3LvBPoAmhmN/gB38+NeDHmIJR+jgMlYn/i2Fz60ifI4PeIANrGA3b +KNo4xlOMYPVXpGN4zvOMI2+Cp++EDoL3/E6sQaOcY5WJvDE1T0WaIXvcXCvYVG6o+nSv/tYw2/8wicMl +uwzwVnMxQaky173d5qvpWK8wpv4XsiiX8e30OiSn+KRVIBOifAFU1iOSEnFKtDBRwyFRheTcfpcHnopg +89SEVqZbT64L6C/RiDHW0zEgZu9HIuU9+OUZo3fT7yX+jNHM7gHZcFtqfxt1b23j60g5gG1g7udk4q2m +a0Q3IiV42Vw3lXYNKTWOcdYZhuJVcZY+B6paWzSM7oIx1n1T28ufC6kt99F3XBYlvryq9RnO2FruhoOJ +1LKPYdDgYZ0p4euj6/DsFWmedsB+zj2e+44YO+MPwJ2YaVTOqggAAAAAElFTkSuQmCC" width="20" height="20" /><br /><span style=" font-weight:600;">Show Help</span>. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The full motor configuration, including the notes you make on the <span style=" font-weight:600;">Description</span> page, can also be written to and read from XML files using the <span style=" font-weight:600;">File</span> menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again.</p></body></html> + + + + App Setting Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">App Settings</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The easiest way to configure your VESC for conventional input devices is to use the </span><span style=" font-family:'Sans Serif'; font-weight:600;">Input Setup Wizard</span><span style=" font-family:'Sans Serif';">. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1804289383.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAVdJREFUSInt079LW1EYxvFP1PgrVFCwDh0FB +wvSQnEQuhRsJykJdLCrg5uLuJTSSXToH5A/oFuhIjhI/wFxqlYquAu2OliCLaUaicM5kcuNCTHoli+8c +O9933ue5xyeQ5s290Vng94Asjiv089hDuPYa9XAKlYa9GdRiSYmWhEYwx+cxeeb+Iod/MLHVkTWBJcVf +EEm1R/FP8yjiEP03UbgFcoJkTJepmY+oIQRTOESr5sV6Mb3hEC1vqE3MXOAz/E9i32sNysyiDwK2I5Vi +DUYZ15E5zOJ/97jLx41K1RlLVaaTzjCsBDjnJCuCyzehcgwfuM/jhN1IuxuDx3phbpuKZzHA7wTopvkC +RYwKRxzU6R3ksEWftQxNyQkrphupId78Dwu+DB+mxYSVsIzLAuxTnOKTbzBknCZr90l6cdbtedawS6eY +gM/bxCBx8K92VB7nG3a3ANXA4ZLC/b9+0UAAAAASUVORK5CYII=" width="25" height="25" /><br /><span style=" font-weight:600;">Read App Configuration</span>. This button will read the current app configuration from the VESC to VESC Tool.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#ff0000;">Warning</span>: All of the app settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAZpJREFUSInt1L9LVmEUB/BPWr0qJUENQViXl +qIh0KaIhoyghiCyFyKC/ANaWmuxsK3FEGyooCjQoZaagqagoPYGM/qJCoaCFFiWNTwHul7ufd+ltvcLh +8vhfM/5nuee5zm00ML/xgF8wMeCPcX6JrlrcAmj2NFM6DF+52wFJ3Px7eguyduFH8EfaiayH79yIk/Qn +os/wktsKeQN4wseYgprG4ncxXIILKG3EN+DTxiXfhF04C1uoT+aPFIlsDsEzmMGYxW8U/iOvvCPRuFD0 +uymcL9K5ALmUMNpbK3gdcRpLoY/gTdYF/4wFrE5n9QW3wzvostxzFaILAUvi0aOBX854vfQhXqZyDdsy +PmNsDH49Sj4IkQz6Za9xmBZ4kB0s7OJQBYCZ/HK6iuft5/YW0zuxHvp6O3FYKANd6RHejgKXca+gh3EV +1wrK3JcmskNbCrEujEizaSO61FoW0VDD6RbWisLnsF8EG5LL/gmPmMB56SZTEsbogoD0gY4UUXowRU8w +ySe46q/e6lL2nU9DURqwckacFpo4R/gDwhEYoEYfLxOAAAAAElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default App Configuration</span>. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#ff0000;">Warning</span>: All of the app settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAVZJREFUSInt1D1LXUEQxvGfIor4UgiCL6VYC +WqVSjQSsReC+IKFRSxtJEUs0qXyAySlYKGV2gbEwkICIQhikS8QURHFBAyJihY7By4H782BaHf/MOzO7 +s4+e2aGQ5Uqz0VNzm/CHGpz6/dYxe9Hzl5jLc4Uoh4jGMVe2Chexl4p03HxX/QXFcizGVaOzzjACVYqX +ZRPS1F6MIxP2MIUGp9aZFZK07ZUjy6MP6VIPWakdJ3iK75jvlxAXc5vw1jMu2OcjHEHFxhCL97G+g3W8 +S5ifhR55YHUNaX2DQ1xZg3HaJfauEnqrhss/UsgYywCMoFbvIq9dlzij5SqzM5wh0OPlCCfLlJatvE6/ +E3sxnwCLViWWreUQSziBb4U+Zpe/MLPmJP+Dvs4KvO4NlzhYxGBjA9hGQNS276vELOBczQXFWmViprRh +wV0Vojpwxt0FBWpUuX/eABXPUWBkBgNpgAAAABJRU5ErkJggg==" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Write App Configuration</span>. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Every app setting has three small buttons to the right of its value. They have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAApUlEQ +VQ4je2UOwoCMRRFz4iduAOX4AJ0HwqW2YIrcQfpZzYy1rMGG8sB21Gb+yCIUZOJ2HjgwsuHk0cggR8xU +4pQAV6pSggdcFXcWNkS6IGb0msuiznQBTJLp7Vk/BOZxafKHDC8EA5E7nMaEZ6Bneo9sFbdAgfVl9Quj +TrorHm3eZJ7yl/4PWFx7PdYAKuRriNwssGG+Kv4NNvHDu015NKGHRbjDvLBOhzaahdWAAAAAElFTkSuQ +mCC" width="20" height="20" /><br /><span style=" font-weight:600;">Read Current Value</span>. This button will read the current value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABy0lEQ +VQ4ja3UuWsUUBAG8N9uNCbe8T4LDdqpYGNhBCWQxsZCRMWjEBsbK5vUVv4DBkQR7ETwQkUhoCBBRAQRQ +RuPRDwKC2M0mpCsxcyaZY+sRQYejzfvvZlvvjmYYSk00C/BBqzCbPzCh1y//9d4Cw6gHz8xiVLFmsRXX +MK2ZgiLuIwjiaYfT/ERY5iPTdiN7RjHcVxtZHhnIriO5U0i2YHBdFYjxdxXa8xnPSlgbb2LWVXnfejBQ +wxgCH+wEJvRja2C72llvyD+guBvRG1SJkwlZSB1TRG+xUksRifWoDUdvMc7kZC+dNgU4QTu4qjIarvge +anIbiWAeYKKaQ2+wGhVqCVRSl1Vf3rybhjn03FNyOfwAHtE8a5DG+7gE07gYr79nPsCPFZFQRnhoCjYj +jpRXEv0nXlehidpeAhz6xkcy30Ez3EbZ0WZjCbSshSwCGcSXRdThV2WUxnWPdFu3blaMQdfKt6W8D11h +Qz9n+xKLzc0br1XgscVFboi7osJtF7VxZU0+gM30YtjYgJtwSFRVi9xGHtxK//01UPQgoN4pHZ8vRZ8n +RZlUtaPi85pLxtpNBA6sNFUpwyLJH3DSpGANjzDmwY2Zkb+AmCVfJ8j/k4uAAAAAElFTkSuQmCC" width="20" height="20" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Value</span>. This button will read the default value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1350490027.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABiUlEQ +VQ4ja3UQUtVURAH8F8iiOt4lRuJBF/wAj9Drtzk24maguuo71G67xtIayNa5t6lqagrFVMRdGdQ1LPFm +fu8He99mvSHA/fcmf//zJyZM/xn3LvBPoAmhmN/gB38+NeDHmIJR+jgMlYn/i2Fz60ifI4PeIANrGA3b +KNo4xlOMYPVXpGN4zvOMI2+Cp++EDoL3/E6sQaOcY5WJvDE1T0WaIXvcXCvYVG6o+nSv/tYw2/8wicMl +uwzwVnMxQaky173d5qvpWK8wpv4XsiiX8e30OiSn+KRVIBOifAFU1iOSEnFKtDBRwyFRheTcfpcHnopg +89SEVqZbT64L6C/RiDHW0zEgZu9HIuU9+OUZo3fT7yX+jNHM7gHZcFtqfxt1b23j60g5gG1g7udk4q2m +a0Q3IiV42Vw3lXYNKTWOcdYZhuJVcZY+B6paWzSM7oIx1n1T28ufC6kt99F3XBYlvryq9RnO2FruhoOJ +1LKPYdDgYZ0p4euj6/DsFWmedsB+zj2e+44YO+MPwJ2YaVTOqggAAAAAElFTkSuQmCC" width="20" height="20" /><br /><span style=" font-weight:600;">Show Help</span>. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The full app configuration can also be written to and read from XML files using the <span style=" font-weight:600;">File</span> menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.</p></body></html> + + + + Data Analysis Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Data Analysis</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1804289383.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAOtJREFUSInt0j9KQ0EQx/FPTODlIMY7iIXWg +VgoSmzEE3gEsRDvoCm0Tx0lJ/AUsbW0TUCfFhkhLlmeAcv9wrAzO39+u+xSKBT+k0P0w+9H/Ce2GvJdn +KBCB+3Yb0dcRb67qUgL+xjhDedYZPoXuIi6EQ6iP0sPN3hFja+w08gfYRD+IGI4W6mto/8WO6nANT5Xi +lftCQ+YJiLT2H/O9NUx9xfbuMIsucmw4SbDZPAshvdSgZRd3OMdkwaRSdTdYc+aN+lkRF7CLmNglamr8 +IhjzHMnzon8MMc4/A/LdxNry/J3jdf0FQqFDfkG0GlAe84ws98AAAAASUVORK5CYII=" width="25" height="25" /> <img src="data:image/1714636915.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAzBJREFUSInF1k9oHGUYx/HP7O5sNptNVo20E +T14KqKmeIg9Bbx4LygR9ObRUsFDaQ8e7NGCVG/qSbyoPdR4EhQ8VOjFHoQUUYoHRYXYvybZ/7uz42HfN +5mkMS0o+MLDDDs7z3d+z7zP75nEvVYuQQmVcEyQY4wMmUR+UIrkgOQlVFELx3QfyBAD9DCQGN8/JFfFD +KZDVEOUCvdkATBAN0RbYrA3XWUfwDRm0UA9xFRQUikoiZA+OiFSuS2J7j9DJoAm5gIkgmLJipCRnVIVr +5fkFEGVAqAaFMwF0GyIWLYpOy9/HCD9UKZ4rRyyjeWyWLpKAJRCsvj0s3sUzRRKFiHDAGkXfhfKOMJQb +iQxjkqq4WnrBcjcHlAtgGK5+qFU1V0Kdpexi14l9EGtAKkXVO2U7n1H1KRedd1HDukZes21AiArqIuAm +ly/FGTGLTpVAM7Y0HTOUS3zSmZVNPGwiqaSWS3zzjlqQ7Pw7qLiqagydnIqNlxmyruesmzFgpNWLWqoS +82omAuQOakZDXWfW7TgpGUr3vG0bDt5GqIcd0vJOY+74CXXPK/tkLhe8RumlU1JNTAtVTaQYdrLfvedR +1y25LIlZ113xDdedMGbbk/y5+oOOx9eWn5XHLPuuHXLNl20Kdd10aZlW45bd8z6vvcxdth5uXrZWRWnr +Km7ZNPQhgUDjW0lp/zoPX8oS6VST+r5QW7RbW/7WVvXVx7d/n/Dn56x6nVv+cIqOpWgYOy0X532scyXP +rTkM8+5YtEnHvOG72X6hlpoG5qRhUb81BNqep511YpvnXBF2U3cjLkr240z2dtDZX0n/OSEGzZc8oGjW +jqG2lIj3DGSGepr6XjBVV9b03QDt8IWHoScQ2RRSXTT4h5va6o6Yw2zxuaN9HDTSMnYUMMtZ/yCDZPO7 +4b7+wVYNrHtXA0PFeJBPOD+Or6FzQD6C3dwezsSvWgrcSZ0FN10sqKlH+RdEbQVzjshX8EgE2P5ttHtd +tNJsp6DXbgdABEy2SBhUu5YfWIgt+VuN+279zzpFJJPFBUm5O6hleiGT4K9bnq/k7EVAN3dafdb//GM/ +x+/VnbD/vV3198lXlrK5rk7bAAAAABJRU5ErkJggg==" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If this button is toggled active (green), scolling with the mouse on the graph will zoom the graph horizontally.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAARFJREFUSInN1DFKA0EUxvFfVDBipa1l9BbBG +1ioWMbeM4jYCnZeII1dChHPolXwCpvOFCZa7CwmC4lvTBb8wzI7s/PNNzvz3uOfctO0wREmOMwRbWSa9 +JKml6kL08I7vlLbasLkGNNkMk39EDnHdeln963UXys7GCn/onpGaEfEm0GTM+zhFru4xj4+8Ja338Vsz +7z3F4wvZCsw57Q27wAXM/1PPK1qMjZ/rA+175PAGs0TSagTywNkgpdlC+SWFbj6gybEStEVzZNz3CnLS +Te198o8eQ2u8SttFOYzvhDM+OidjDGojQ3S+Fqpjqmqwt11G1QMk8kwR5Qbwo+1thE6yuTr5IiiIVxRK +O/jOVPXPN97eDNuBsQAEwAAAABJRU5ErkJggg==" width="25" height="25" /> <img src="data:image/1649760492.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAzdJREFUSImN1rtvXEUUBvDf3bu7Xtu7Xju2C +YiGDslSkBLJQAGUqSlwh0SDRBOEBEi0UEJFnKRD/AMxEgVVSuo0KFKI6CgQAePH4td6X5fiznhn18bJl +T7Nfcz5vnPOnDlzM8+6ChnygAoyFBhhiKFMcRlF5RLyikIDbVzBCla85Kuz+/J9W6Gh+H+uiz8U6gn5c +sCKr93w1Ge+cT0RWk7E6s8nUpjFIpYSkZJwy3vI3LeRCESRJSwG+4mreoFAGwtoBsyhYWjGr26CJ24a+ +knuFF00UA98FQUyJ+cjKUNtBYH2uWg2veHIKji06o7Xz0UxdrCVpq4SBCqYT7xvTQkt+8HbysqCzJZ3g +kgq0Eo45mMxxEjqmA2piSIxoiW7XvDQtYnUPnTNntUgMo5gnOLZwCsP+6CZkMYxRtK26TV7FnzuiX1VX +3hsW92xzFs6QTbum0FAH31fOs0UcmmZju9jvhcdWtYM3r1rzY8e48ShY0072McudqbwD3aryoqohdDiO +BPQcNerKlpq5uQadsz73iuGuvqOjay45ZfEpp5w1ZBXw7pEVBPUMKOlKldXM6um6VOFQktfpm9gqBrIa +4lt2oYq1VAx04iimQ/8HfKdhwWt4SRgL6Rk0iatQrKqstlNYxRQ+M5VFW1186pyub6h3MCcnitGch+eO +TJKOMT7SvJxlFRGrI5TQz0DXQNHBjo2MdAJz11DPZyG+dF2GDDCqJoQ9pLxNODER36bqK4t8973+1R1d +RObXsLVxzBG0kvIuyHfRwEH7lnwputua/oT32pad8M9CzjAYZh7coHgMAuZayj3RMRkL+poe9EtXQ3xa +uh66q62Dv5FR7lf9pR7pkSmG9tKL3hxHLw6SAz3tG1b90h6rXukbTuQRqEY1XHg6xF7V2YUwj0MmPZsx +4afJ0TK553wfT/MP0g4jgLvWT0Labv8PFl026Grmv6y75PkPDk27eCF50kpeZJEEPtR2ZNy29Y8AGsey +G2HSOKcaDMhcF5kLJQuYGx0OzbcxyiM4/flvDJtUwLn0zWZuoqy0cWjtYaKl33sD3eUpR/3VRe9uAbPL +zIWi30pNtP0v2uA0bP+u/4DiYs9rS0c1UcAAAAASUVORK5CYII=" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If this button is toggled active (green), scolling with the mouse on the graph will zoom the graph vertically. Often it is useful to deactivate this button and only zoom in the horizontal direction because the sampled data can be squeezed together horizontally for long sampling sequences.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAS5JREFUSInd1j9LA0EQh+EnEr+BYBdJKrFST +KGIimhh52cTLMReBEH80ymCjZ0INlqpRToLeyHqWeSCe6fEy92mcWDgbmbn93J7s8PWkBixjY0aAPXge +Q2diNoNXOUhHTxHEJ/EWxiIuV3T2MM9xvPJJPVWSfElnOIj1dlO461AuxSkhi1cB/UJupiKAVnEQ0687 +/vBukqQut4WHeEzqP/EbCxI35p4DOrPc/nKkKbeGWjgOK1fjwkJAbCMm1/WFYa0ZXs+D5Dm21Ugt1gZA +BhkhSAbafykBKAw5MJ3az4NCSgEmZM9AwnOsCo7VCtBDnKAvt9hIQakpTeDwpN8ic2C4oUgO+n7Ow4xP +6T4n5AJvGJX+dH/A5L/iV3M4KUiIGMhJGzRql+R0av5L1eiL2cWjCtk8xZ0AAAAAElFTkSuQmCC" width="25" height="25" /> <img src="data:image/424238335.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAA4hJREFUSImt1k9oHGUYx/HP7k5mN5tNWlttS +lsKKbbRixDBg5aihVKsiHrRo1QFQax/yEEvnjyVHvSQg4gXEaSCetBD25PtoVTRQw6emv7D0EBDbRubZ +Jvdzc56mHdmh9jUgr7wMC8z8/6+7/M88z7PlNBzr1FCGVG4lsKKBN1g91YQrfukjBi1cB24C6SDNlbCN +fl3yH7Mgj1iE+q2qxlVVRcbMqCsrKSkrKcjsayjqW1ey5wV05pmtIPeTpxeC5nFZT2DGA57qwdbDb5EB +V+64Z0WmsGW7Fd3xsL64UoBGzCCRrB6IWhFyGohWDUfGzflZTccdMhjTt4NskccPBgJoOFgQxhEVT/9S +YC0HLPDlEOuegJlW33lhLZxDTNFSBkT6mFnjSBe9GgoQNL0r+o5aswXnjJrLN9oSddHvkXDhLqL6XZSS +IztaiE0GWRkDaiGqu+MesfTrtlk7djlrLfdJnw0cRrMslJYPqqqn+ihIJyBNmIzNnsBn/ndPlfXIHo+c +CrXGFVVSzMY5eehLg5xroUcZKDhABnGoFjFS7oedsEBG81rgN1mvOl67vGIWIwKZVGI9JCBMItD/Kthw +VAhR5vxoPO2OuxxP/nNXnPgXefCmhixqgEDKST1JLWseGQ2UIBlZ2eji+pe03DcFbsx6ZI5kSOuFtZWw +tGlTKSUxk2pMMuwP3jIQRWDKohcVPeGB3ztVvimKg65qeJsvibTSPqKZT2C9WckEj3v2eeETeg6r+RVD +V+6ZUxTWrm6BnW86Lr07CS5RrmvGOWPkvyApTZlhz9s8YmOcTMO2+a4K8by076IO9Ky0grQbH1XJygmR +FbD42Ud/braMuVJcM52B2xwxq92K6Wp1A2ARSxLS0sGa6OtJQq+KkvC7WZe7FZ8botL9uQnYF7D6x7xv +Yq2G/gTN7EQQEsBdicH3tbWziC9cHu+UE2PeTYksD9+ts37HvUjuBFsAX/hdgGUasxrWclyIngyZwVNn +xpz2d6CfM8uF7zlF5NmQ43IWlYrCC8FUOZV05w46ywpJMF06AdHvRLinhhzzqRTjrhmvSqchmg5ADLIk +mlx1in7pX5G23Ni1z1vi+M+9I1JC+6vnzRz8cyjmVBurG1aJy16xoTTmvoNa0W/zP97Z2RRyZ2ibBGyE +5zBuE332eMjTZF5kTmxaXHBg52ZcLarf47/8W9lfUjxjf/43/U3pE5Iq8YBubkAAAAASUVORK5CYII=" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is the auto fit button. If the toggle verion of the button is active (green), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAS5JREFUSInd1j9LA0EQh+EnEr+BYBdJKrFST +KGIimhh52cTLMReBEH80ymCjZ0INlqpRToLeyHqWeSCe6fEy92mcWDgbmbn93J7s8PWkBixjY0aAPXge +Q2diNoNXOUhHTxHEJ/EWxiIuV3T2MM9xvPJJPVWSfElnOIj1dlO461AuxSkhi1cB/UJupiKAVnEQ0687 +/vBukqQut4WHeEzqP/EbCxI35p4DOrPc/nKkKbeGWjgOK1fjwkJAbCMm1/WFYa0ZXs+D5Dm21Ugt1gZA +BhkhSAbafykBKAw5MJ3az4NCSgEmZM9AwnOsCo7VCtBDnKAvt9hIQakpTeDwpN8ic2C4oUgO+n7Ow4xP +6T4n5AJvGJX+dH/A5L/iV3M4KUiIGMhJGzRql+R0av5L1eiL2cWjCtk8xZ0AAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">Realtime Data</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">In ordet to stream realtime data, the </span><span style=" font-family:'Ubuntu'; font-style:italic;">Stream realtime data</span><span style=" font-family:'Ubuntu';"> button in the main toolbar to the right has to be activated:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAAB4AAAAeCAYAAAA7MK6iAAAACXBIWXMAAC4jAAAuIwF4pT92AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAABRdJREFUSIm111+MnFUZx/HPO/POOzM7u93Wb +jFtt40RApRWYsIFBm+8hCipUYxcKFygwQskVqsXxP9S/8RN1gRso60Ua0hpiDE0Jpgof7RcaKxpMJAAp +qloQSOpbdndme78eV8v3vPOvLO7unrhSZ6LOXPmfM/vec7zPGci/8vIVFBFBdFwlhQDkfS/3Spad0UOq +5UsDuBKWJEG66M3tHUOUQbHeBIz4fNAxTm7HPGil0z6kZ5ZkWiILEaKSN/nfMqD/oJlXEFXJFtPW4LX5 +a4bWaTtTneoO7fqu3Hr+5ZbZa6V2SmzRaYVPLZqxGvMpWpeEKnpuk6m6Wn32+gNHUQiPS1tM2oWtVwIm +gau1sR0EFGEpSqzJDJYD9zzE3f6KPa6zUnzLrnRP9xtoyoS93qvH7rPbn9wxmEM0JXHtwyuKsKZWSzHf +eSGa0rx3qyFSV/3stiSVMM5W7ERG7W0QnASbBrO59ANmAo2GayFpmzEGCn+kMR3RYg0tVBRM6VInYapo +CwJ31NXD8B+UHzF+M3Ptea/6wdbHoEzFU9oiMIdbGmias4t+pqmXHa1Wjh9XSOAa0PFvbBhsgKaBmiRZ +l1ZnmqF4pot6iKRVM0tHhWJtc0g8h6vSExiAg0NEysU90pqy9BCZbfkkStYHoE3Swiu7tg2DEFT2yG/L +cVqQi0ojoeKl/8NtFcC1oPVsFwZVqZELYQ+NeuPtjmLVEfTs3YG6BQ2SILiZKi4uFCt4JUmGgGUGN3y3 +DKVovbGqmJEKgaeM+91cz7gOUR+4KawYQ6PAzhXPL0CuhI4yukTNvuzOqpFza0YqA4ve0WM2DecVtPzg +m3Omg6bttQ0SuAC2iy5srjZcRBWdcx2n/R9B2wnVxyhIhmr2/ncu7Xt8lc9seNmw4aJiiSAawGYlCAjW +CHqmB0+4yvucsBhbyBas46Ojff7Ezhp67pr1xqPmfV59/mSb3s47BVOlPfT7lgXGfXYTzgr1nfG27ymg +q5UF/T10JHf3L5RoRhg4KgdvuDjDpqzz2tGLTSrDD9UDUR6Ij3pMP/63mnBHudlMidMY0mqI5bK02gBS ++EAy4piccQOX3W7H3vIh/09HKYAp1FIp2ls8rK3a9po1oSqaUX9bduka1pdS1NTX1NHoibTGKpeCodY8 +LAt5t3kZw660XlcKtlFXI5FUlk45fUWjC5G0cwTE2ohgfKiEFs2pRrCMghr21gyZ4cjdnnKYde6YFS1x +l4nxeUqam23BOwY6PiOnVJLWAyKLodTjymQWvA17/Co6zzjkQDthL2WS9Zj1J16ygqL9Pismx2z12lnP +OF54zW5rLhnvz2etd0zjrrKxeCBdoCXD9CjqK15g75SWtR21LTH3eY3vuhVk+53Q1BbqMwtdck99jhlx +q894ioXgncW14SHx0A5j7vDhb8zsM8++815l7/5lUN+bleoOiMXpy66w81e0nLKERv8E28FK+BLpQN0C +9j48za/4ZM2mXeNV/zeLxVF/7QZt3vAgx5zj/N6qm71ER2Zpx3XHN6RwnPtAF0cWunps/pdnfiY2Pu86 +csmNBla3QmzPu0Bh3zPAR9U95bnHVcda4HLYyHL4aseeyvBN+Ahu+31oszqFlez324HfdNuTzrlcY1Qp +Ub9d5QVRXzXeNyXwVM4iXvxaniYJSVo0Xli87ba583wu5X/JIq0+Y8P+jL4MH6Bn46t+D/9hSmP69ddk +anI1GTqMo1g9TC3fqcrjX8Bmh7iKXvL0NIAAAAASUVORK5CYII=" width="30" height="30" /></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">Sampled Data</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/596516649.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAxklEQ +VRIie2UwQnCMBiFv4oHnaPgzRF0CD24lR7sEm4hCl3Am07QFidoqV7+YAykTW0CBfvBI7wkzctPksK/M +gOO0gYhAvbAS9ooRMgGKCWkFO+VGMglQCmXfi/MgdQIUEplvDcHoLaE1DLeiy2fc7CplHk/EQNFS4BSQ +cP5NF3DFbDU/A5Ya/4CnDR/A66uFdhI+N594vrhpG/yGDKGWJl2mPsAzoYfDvqLX9CtsjYq4G52Zrj9p +1yVqYX1nT89VhFivQHwBrDpUhHNZWIJAAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sample data now and send it when this is done.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAAAZoAAAGaAHEuzO0AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAy9JREFUSImN1l9ol2UUB/DPby6ynK4MZ1uh9 +gdHeZFSpBBd5I0FboQXEZEhDMn+KShRUiJlEV54URIFiehtWuT2s2CREXSRVheVw6kkscrMqViSZsnWx +TnvfPttv7kDLw/v85zne/6f81SMT5PRgYcwA0OlswYM4mNU8Xc9kEqd/UasxoMJNIxmNKEbD+PP/P5BG +z7Fm/i3FqxhDAHtqd1ZHMev2JgWfYAbsSv/X0klTuAM9ub9cYUsxNsJ/nwKOIgf61h8JM9/wQvJ/07ij +CmkHW8I31bxOFqxXLhpLGrK81Y8ho9wHq+XLSqEXIW38DPew258i0vYh/XJN6tmXZ/nl5J/D3akZVsTd +4TWoQv9WFDan5lW7UavSIDvcu3N/WryFXQXDifeOiK7JqcGv6UGN+EiNgjXHRKBfVdk1nDe68QqkQh3J +M6ruAYDaW0bOhpElpzASRHgm/ETdqIv/bwY25JnMNdtuf9h8u1I8La8/3vydlSwPbXYiKOYipdwK27DA +6Ie6tE0fJ4KHhNBP5f3X8MF6Ek3lKkiiqtrHPAydeEzo4u7Bz0VEY9mvF86nCXy/gZRZFei6TiNzcJlB +T2CPxrzpyrMK1OfCPJEaDj5G2twqri/qJOlqUHxwTz1e1stVZJfDc7SgqFb/ZismKCQFerHpLsBp/AXb +smDKdgkMuoZkW3j0dTkO5v3puT+7Yk7OEmU/p0iXVtF8PqFb9tFsX0pWnotNYk0XSRq55jLLWhJKlAtV +/yg8GNLMr0scrxPFOtW/3drJ55LJeaJSt+ESaKLzxGDrrO4UPSuQ7inBNQiZsQu0QiH8UOu+3J/b0kxu +Fv0rpVYK6XCN6JSj4qZ0J/7WxL0PJ5I9xzBV2IULMg7y0S6FkKm416swVAhZAhf41HMF0Fswn2iqz4rm +uZcUbgDOJDfiyLAAyI2q1LI0yIEI5YQFXtYPBpmixm/H18kmNSuWWTeAZEMRfJswHW4XgT/+wK4dvzux +5PCx1tE8OYa3Q0Kmp3nc5J/Jp5KnBGayGvlVGp7bVqxR4yHcyJWQ8I9vWK6jnqtXKltXO3yu6vF6HfXS +XwiKvtiPZD/AIJd2vAkwtKnAAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired.</p></body></html> + + + + App ADC Information + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button.</span></p></body></html> + + + + Chuk Info + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">C-Button:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Z-Button:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the <span style=" font-style:italic;">APP General</span> page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value.</p></body></html> + + + + PPM Pulselength Mapping + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the VESC. The following procedure can be used:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate the PPM app and reboot the VESC.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the PPM control mode to disabled to avoid motor movement and write the configuration.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Connect the remote.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Move the throttle between the minimum and maximum values to get them sampled.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply the result.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.</span></p></body></html> + + + + ADC Voltage Mapping + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the VESC. The following procedure can be used:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate the ADC app and write the app configuration to the VESC.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the ADC control mode to disabled to avoid motor movement and write the configuration.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Connect the throttle(s).</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate realtime <span style=" font-weight:600;">app</span> data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Move the throttle between the minimum and maximum values to get them sampled.</li> +<li style=" font-family:'Sans Serif';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply the result.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p></body></html> + + + + Welcome to VESC® Tool + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Welcome to <span style=" font-weight:600;">VESC</span> <span style=" font-weight:600;">Tool</span>. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety.</p></body></html> + + + + Usage + 3 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif'; font-weight:600;">VESC® Tool</span><span style=" font-family:'arial,helvetica,sans-serif';"> and the </span><span style=" font-family:'arial,helvetica,sans-serif'; font-weight:600;">VESC® firmware</span><span style=" font-family:'arial,helvetica,sans-serif';"> are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without </span><span style=" font-family:'arial,helvetica,sans-serif';">thoroughly</span><span style=" font-family:'arial,helvetica,sans-serif';"> validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations.</span> </p> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">Things that can happen, even when using the correct settings, are</span></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">electrical failure</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">fire</span></li> +<li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">electric shock</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">hazardous smoke</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">overheating motors and actuators</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries)</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">motors or actuators stopping from spinning/moving</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">motors or actuators locking in, acting like a brake (full stop)</span></li> +<li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">motors or actuators losing control over torque production (uncontrolled acceleration or braking)</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">interferences with other systems</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">other non-intended or unforeseeable behavior of the system</span></li></ul> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used</span></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">by experts and experienced users, knowing exactly what they do.</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">following safety standards applicable in the area of usage.</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage.</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.</span> </li></ul></body></html> + + Important usage information + + + Warranty + 3 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">LIMITED WARRANTY STATEMENT </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1. Warranty</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">2. Limitation of Liability </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED THROUGH THE GNU GENERAL PUBLIC LICENSE (GNU GPL), BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This section will survive the termination of the warranty period. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">3. Consequential Damages Waiver.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">In no event shall the publisher(s) be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the publisher(s) has been advised of the possibility of such damages. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This section will survive the termination of the warranty period. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">4. Changes to Specifications.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">The publisher(s) may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked, reserved or undefined. The publisher(s) reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice. Do not finalize a design with this information. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">5. Statutory laws. *</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Times New Roman,serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. </span></p> +<p style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode</span></p></body></html> + + LIMITED WARRANTY STATEMENT + + + Conclusion + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">You are now ready to start using VESC Tool. If you have any questions, visit </span></p> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><a href="http://vesc-project.com/forum"><span style=" font-family:'Ubuntu'; text-decoration: underline; color:#5555ff;">http://vesc-project.com/forum</span></a></p></body></html> + + + + License + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">GNU GENERAL PUBLIC LICENSE</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Version 3, 29 June 2007</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Copyright © 2007 Free Software Foundation, Inc. &lt;</span><a href="https://fsf.org/"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://fsf.org/</span></a><span style=" font-family:'Helvetica, serif';">&gt;</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">Preamble</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The GNU General Public License is a free, copyleft license for software and other kinds of works.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The precise terms and conditions for copying, distribution and modification follow.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">TERMS AND CONDITIONS</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">0. Definitions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">This License” refers to version 3 of the GNU General Public License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “covered work” means either the unmodified Program or a work based on the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">1. Source Code.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Corresponding Source for a work in source code form is that same work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">2. Basic Permissions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">3. Protecting Users' Legal Rights From Anti-Circumvention Law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">4. Conveying Verbatim Copies.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">5. Conveying Modified Source Versions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) The work must carry prominent notices stating that you modified it, and giving a relevant date.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">6. Conveying Non-Source Forms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">7. Additional Terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) Limiting the use for publicity purposes of names of licensors or authors of the material; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">8. Termination.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">9. Acceptance Not Required for Having Copies.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">10. Automatic Licensing of Downstream Recipients.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">11. Patents.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">12. No Surrender of Others' Freedom.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">13. Use with the GNU Affero General Public License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">14. Revised Versions of this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">15. Disclaimer of Warranty.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">16. Limitation of Liability.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">17. Interpretation of Sections 15 and 16.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">END OF TERMS AND CONDITIONS</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">How to Apply These Terms to Your New Programs</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Courier, serif';">&lt;one line to give the program's name and a brief idea of what it does.&gt;</span><br /><span style=" font-family:'Courier, serif';">Copyright (C) &lt;year&gt; &lt;name of author&gt;</span><br /><br /><span style=" font-family:'Courier, serif';">This program is free software: you can redistribute it and/or modify</span><br /><span style=" font-family:'Courier, serif';">it under the terms of the GNU General Public License as published by</span><br /><span style=" font-family:'Courier, serif';">the Free Software Foundation, either version 3 of the License, or</span><br /><span style=" font-family:'Courier, serif';">(at your option) any later version.</span><br /><br /><span style=" font-family:'Courier, serif';">This program is distributed in the hope that it will be useful,</span><br /><span style=" font-family:'Courier, serif';">but WITHOUT ANY WARRANTY; without even the implied warranty of</span><br /><span style=" font-family:'Courier, serif';">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span><br /><span style=" font-family:'Courier, serif';">GNU General Public License for more details.</span><br /><br /><span style=" font-family:'Courier, serif';">You should have received a copy of the GNU General Public License</span><br /><span style=" font-family:'Courier, serif';">along with this program. If not, see &lt;https://www.gnu.org/licenses/&gt;.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Also add information on how to contact you by electronic and paper mail.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Courier, serif';">&lt;program&gt; Copyright (C) &lt;year&gt; &lt;name of author&gt;</span><br /><span style=" font-family:'Courier, serif';">This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.</span><br /><span style=" font-family:'Courier, serif';">This is free software, and you are welcome to redistribute it</span><br /><span style=" font-family:'Courier, serif';">under certain conditions; type `show c' for details.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see &lt;</span><a href="https://www.gnu.org/licenses/"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://www.gnu.org/licenses/</span></a><span style=" font-family:'Helvetica, serif';">&gt;.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read &lt;</span><a href="https://www.gnu.org/licenses/why-not-lgpl.html"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://www.gnu.org/licenses/why-not-lgpl.html</span></a><span style=" font-family:'Helvetica, serif';">&gt;.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + + + + + diff --git a/res/config/5.02/parameters_appconf.xml b/res/config/5.02/parameters_appconf.xml new file mode 100644 index 000000000..0f8b98186 --- /dev/null +++ b/res/config/5.02/parameters_appconf.xml @@ -0,0 +1,3232 @@ + + + + + VESC ID + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">VESC ID. Used to identify this VESC on the CAN-bus.</span></p></body></html> + APPCONF_CONTROLLER_ID + 1 + 0 + 255 + 0 + 0 + 1 + 0 + + 1 + + + Timeout + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected.</p></body></html> + APPCONF_TIMEOUT_MSEC + 1 + 0 + 30000000 + 0 + 0 + 1 + 1000 + ms + 5 + + + Timeout Brake Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply brake with this amount of current after a timeout.</p></body></html> + APPCONF_TIMEOUT_BRAKE_CURRENT + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 0 + 1000 + A + 9 + + + Can Status Message Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Send a status message on the CAN bus with a periodic interval. Useful for letting other VESCs know which VESCs are on the CAN-bus. This is required by some apps to function with multiple VESCs. The master VESC of the app does not need this option checked.</span></p></body></html> + APPCONF_SEND_CAN_STATUS + 0 + CAN_STATUS_DISABLED + CAN_STATUS_1 + CAN_STATUS_1_2 + CAN_STATUS_1_2_3 + CAN_STATUS_1_2_3_4 + CAN_STATUS_1_2_3_4_5 + + + Can Status Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Rate at which CAN status messages are sent on the CAN-bus.</span></p></body></html> + APPCONF_SEND_CAN_STATUS_RATE_HZ + 1 + 0 + 10000 + 0 + 0 + 1 + 500 + Hz + 3 + + + CAN Baud Rate + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.</span></p></body></html> + APPCONF_CAN_BAUD_RATE + 2 + CAN_BAUD_125K + CAN_BAUD_250K + CAN_BAUD_500K + CAN_BAUD_1M + CAN_BAUD_10K + CAN_BAUD_20K + CAN_BAUD_50K + CAN_BAUD_75K + + + Pairing Done + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list.</span></p></body></html> + APPCONF_PAIRING_DONE + 0 + + + Enable Permanent UART + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE.</span></p></body></html> + APPCONF_PERMANENT_UART_ENABLED + 1 + + + Shutdown Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">NOTE:</span> Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The available modes are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ALWAYS_OFF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The VESC power is only determined by the inverted state of the shutdown input.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ALWAYS_ON</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The VESC always stays on ofter being powered.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">TOGGLE_BUTTON_ONLY</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A normally closed (NC) momentary button can be connected to the shutfown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">OFF_AFTER_x</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware suports push to start, such as the VESC HD.</p></body></html> + APPCONF_SHUTDOWN_MODE + 7 + ALWAYS_OFF + ALWAYS_ON + TOGGLE_BUTTON_ONLY + OFF_AFTER_10S + OFF_AFTER_1M + OFF_AFTER_5M + OFF_AFTER_10M + OFF_AFTER_30M + OFF_AFTER_1H + OFF_AFTER_5H + + + CAN Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">CAN-bus mode.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">VESC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">UAVCAN</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Basic implementation of UAVCAN. Currently needs some work.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Comm Brigde</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Bridge CAN-bus to commands. Useful for using the VESC as a generic CAN interface.</span></p></body></html> + APPCONF_CAN_MODE + 0 + VESC + UAVCAN + Comm Bridge + + + UAVCAN ESC Index + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">ESC index in UAVCAN messages.</span></p></body></html> + APPCONF_UAVCAN_ESC_INDEX + 1 + 0 + 255 + 0 + 0 + 1 + 0 + + 1 + + + APP to Use + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.</span></p></body></html> + APPCONF_APP_TO_USE + 3 + No App + PPM + ADC + UART + PPM and UART + ADC and UART + Nunchuk (I2C, Nyko Kama) + NRF + Custom User App + Balance + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The output is switched off regardless of the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current No Reverse With Brake</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Duty Cycle</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Duty Cycle No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Duty cycle control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">PID Speed Control</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">PID speed control. The output is off when the input is centered. Input less than center gives negative set speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">PID Speed Control No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Duty cycle control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current Hyst Reverse With Brake</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Current Smart Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Similar to the </span><span style=" font-family:'Sans Serif'; font-weight:600;">Current No Reverse With Brake </span><span style=" font-family:'Sans Serif';">mode, but</span><span style=" font-family:'Sans Serif';"> holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif'; font-weight:600;"><br /></p></body></html> + APPCONF_PPM_CTRL_TYPE + 9 + Off + Current + Current No Reverse + Current No Reverse With Brake + Duty Cycle + Duty Cycle No Reverse + PID Speed Control + PID Speed Control No Reverse + Current Hyst Reverse With Brake + Current Smart Reverse + + + PID Max ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM setpoint corresponding to max input when using PID Speed Control.</p></body></html> + APPCONF_PPM_PID_MAX_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 15000 + 1000 + + 9 + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; ;">Deadband region for the input.</span></p></body></html> + APPCONF_PPM_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Pulselength Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The shortest pulse length for the PPM input </span><span style=" font-family:'Sans Serif';">in milliseconds</span><span style=" font-family:'Sans Serif';">. Can be checked by enabling display and giving the minimum input.</span></p></body></html> + APPCONF_PPM_PULSE_START + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 1 + 1000 + ms + 9 + + + Pulselength End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The longest pulse length for the PPM input </span><span style=" font-family:'Sans Serif';">in milliseconds</span><span style=" font-family:'Sans Serif';">. Can be checked by enabling display and giving the maximum input.</span></p></body></html> + APPCONF_PPM_PULSE_END + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 2 + 1000 + ms + 9 + + + Pulselength Center + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.</span></p></body></html> + APPCONF_PPM_PULSE_CENTER + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 1.5 + 1000 + ms + 9 + + + Median Filter + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.</p></body></html> + APPCONF_PPM_MEDIAN_FILTER + 1 + + + Safe Start + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow the motor to start if the commanded power has been zero for several cycles after boot, after faults and after configuration updates.</p></body></html> + APPCONF_PPM_SAFE_START + 1 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_PPM_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_PPM_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_PPM_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</span></p></body></html> + APPCONF_PPM_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.9 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</span></p></body></html> + APPCONF_PPM_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.3 + 1000 + s + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_PPM_MULTI_ESC + 0 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_PPM_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_PPM_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Max ERPM for direction switch + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The Max ERPM where the direction can be switched to reverse by braking 2 times.</span></p></body></html> + APPCONF_PPM_MAX_ERPM_FOR_DIR + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 4000 + 1000 + + 9 + + + Smart Reverse Max Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum duty cycle to use in smart reverse mode.</span></p></body></html> + APPCONF_PPM_SMART_REV_MAX_DUTY + 3 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.07 + 1000 + + 9 + + + Smart Reverse Ramp Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Time to ramp to maximum duty cycle in smart reverse mode.</span></p></body></html> + APPCONF_PPM_SMART_REV_RAMP_TIME + 2 + 1 + 0 + 100 + 0 + 0 + 0.1 + 3 + 1000 + s + 9 + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The output is switched off regardless of the input.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing the throttle. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse ADC2 Brake Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing throttle. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake ADC2</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with one separate throttle connected to ADC2 for braking.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle control. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.</p></body></html> + APPCONF_ADC_CTRL_TYPE + 0 + Off + Current + Current Reverse Center + Current Reverse Button + Current Reverse ADC2 Brake Button + Current Reverse Button Brake Center + Current No Reverse Brake Center + Current No Reverse Brake Button + Current No Reverse Brake ADC2 + Duty Cycle + Duty Cycle Reverse Center + Duty Cycle Reverse Button + PID Speed + PID Speed Reverse Center + PID Speed Reverse Button + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Deadband region for the input.</span></p></body></html> + APPCONF_ADC_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + ADC1 Min Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" ;">Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If </span><span style=" ; font-weight:600;">Control Type</span><span style=" ;"> is set to off while doing that the motor won't turn.</span></p></body></html> + APPCONF_ADC_VOLTAGE_START + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0.9 + 1000 + V + 9 + + + ADC1 Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" ;">Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If </span><span style=" ; font-weight:600;">Control Type</span><span style=" ;"> is set to off while doing that the motor won't turn.</span></p></body></html> + APPCONF_ADC_VOLTAGE_END + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 3 + 1000 + V + 9 + + + ADC1 Center Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.</p></body></html> + APPCONF_ADC_VOLTAGE_CENTER + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 2 + 1000 + V + 9 + + + ADC2 Min Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p></body></html> + APPCONF_ADC_VOLTAGE2_START + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0.9 + 1000 + V + 9 + + + ADC2 Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p></body></html> + APPCONF_ADC_VOLTAGE2_END + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 3 + 1000 + V + 9 + + + Use Filter + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use a median filter to reject noise. This will introduce a slight delay.</p></body></html> + APPCONF_ADC_USE_FILTER + 1 + + + Safe Start + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow the motor to start if the commanded power has been zero for several cycles after boot, after faults and after configuration updates.</p></body></html> + APPCONF_ADC_SAFE_START + 1 + + + Invert Cruise Control Button + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the cruise control button. For supporting both normally-closed and normally-open buttons.</p></body></html> + APPCONF_ADC_CC_BUTTON_INVERTED + 0 + + + Invert Reverse Button + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the reverse button. For supporting both normally-closed and normally-open buttons.</p></body></html> + APPCONF_ADC_REV_BUTTON_INVERTED + 0 + + + Invert ADC1 Voltage + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Invert the voltage from ADC1.</span></p></body></html> + APPCONF_ADC_VOLTAGE_INVERTED + 0 + + + Invert ADC2 Voltage + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Invert the voltage from ADC2.</span></p></body></html> + APPCONF_ADC_VOLTAGE2_INVERTED + 0 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_ADC_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_ADC_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_ADC_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</span></p></body></html> + APPCONF_ADC_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.9 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</span></p></body></html> + APPCONF_ADC_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.3 + 1000 + s + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_ADC_MULTI_ESC + 0 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_ADC_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_ADC_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Update Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Rate at which the input is sampled.</p></body></html> + APPCONF_ADC_UPDATE_RATE_HZ + 1 + 0 + 100000 + 0 + 0 + 10 + 500 + Hz + 3 + + + Baudrate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">UART Baudrate.</p></body></html> + APPCONF_UART_BAUDRATE + 1 + 0 + 20000000 + 0 + 0 + 1 + 115200 + bps + 5 + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The output is switched off regardless of the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-weight:600;">Current No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled.</span></p></body></html> + APPCONF_CHUK_CTRL_TYPE + 1 + Off + Current + Current No Reverse + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Deadband region for the input.</span></p></body></html> + APPCONF_CHUK_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</p></body></html> + APPCONF_CHUK_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.9 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</p></body></html> + APPCONF_CHUK_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.3 + 1000 + s + 9 + + + ERPM Per Second Cruise Control + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.</p></body></html> + APPCONF_STICK_ERPM_PER_S_IN_CC + 2 + 1 + 0 + 1e+06 + 0 + 0 + 500 + 3000 + 1000 + + 9 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_CHUK_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_CHUK_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_CHUK_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_CHUK_MULTI_ESC + 0 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_CHUK_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_CHUK_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Use Smart Reverse + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.</span></p></body></html> + APPCONF_CHUK_USE_SMART_REV + 1 + + + Smart Reverse Max Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum duty cycle to use in smart reverse mode.</span></p></body></html> + APPCONF_CHUK_SMART_REV_MAX_DUTY + 3 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.07 + 1000 + + 9 + + + Smart Reverse Ramp Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Time to ramp to maximum duty cycle in smart reverse mode.</span></p></body></html> + APPCONF_CHUK_SMART_REV_RAMP_TIME + 2 + 1 + 0 + 100 + 0 + 0 + 0.1 + 3 + 1000 + s + 9 + + + Speed + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The air bit rate.</p></body></html> + APPCONF_NRF_SPEED + 2 + 250 Kbit/s + 1 MBit/s + 2 MBit/s + + + TX Power + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Transmit power or power off setting.</p></body></html> + APPCONF_NRF_POWER + 3 + -18 dBm + -12 dBm + -6 dBm + 0 dBm + OFF + + + CRC + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">CRC checksum type.</p></body></html> + APPCONF_NRF_CRC + 1 + Disabled + 1 Byte + 2 Byte + + + Retry Delay + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.</span></p></body></html> + APPCONF_NRF_RETR_DELAY + 0 + 250 µS + 500 µS + 750 µS + 1000 µS + 1250 µS + 1500 µS + 1750 µS + 2000 µS + 2250 µS + 2500 µS + 2750 µS + 3000 µS + 3250 µS + 3500 µS + 3750 µS + 4000 µS + + + Retries + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum number of retries when no ack is received before giving up on the current packet.</p></body></html> + APPCONF_NRF_RETRIES + 1 + 0 + 15 + 0 + 0 + 1 + 3 + + 2 + + + Radio Channel + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Radio channel.</p></body></html> + APPCONF_NRF_CHANNEL + 1 + 0 + 125 + 0 + 0 + 1 + 76 + + 2 + + + Address 0 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 0.</p></body></html> + APPCONF_NRF_ADDR_B0 + 1 + 0 + 255 + 0 + 0 + 1 + 198 + + 1 + + + Address 1 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 1.</p></body></html> + APPCONF_NRF_ADDR_B1 + 1 + 0 + 255 + 0 + 0 + 1 + 199 + + 1 + + + Address 2 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 2.</p></body></html> + APPCONF_NRF_ADDR_B2 + 1 + 0 + 255 + 0 + 0 + 1 + 0 + + 1 + + + Send ACK + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Send ACK when valid packets are received.</p></body></html> + APPCONF_NRF_SEND_CRC_ACK + 1 + + + P + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KP + 3 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + I + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KI + 3 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + D + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KD + 3 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + Loop Hertz + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Loop Hertz.</p></body></html> + APPCONF_BALANCE_HERTZ + 1 + 0 + 4000 + 50 + 0 + 100 + 1000 + Hz + 3 + + + Pitch Axis Fault Cutoff + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Angle to turn off driving (on the pitch axis).</span></p></body></html> + APPCONF_BALANCE_PITCH_FAULT + 1 + 1 + 0 + 180 + -180 + 0 + 1 + 20 + 1000 + ° + 9 + + + Roll Axis Fault Cutoff + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Angle to turn off driving (on the roll axis).</span></p></body></html> + APPCONF_BALANCE_ROLL_FAULT + 1 + 1 + 0 + 180 + -180 + 0 + 1 + 45 + 1000 + ° + 9 + + + ADC1 Switch Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html> + APPCONF_BALANCE_ADC1 + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0 + 1000 + V + 9 + + + ADC2 Switch Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html> + APPCONF_BALANCE_ADC2 + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0 + 1000 + V + 9 + + + Cutoff Duty Cycle (Causes "Dead" State) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will require a reboot).</span></p></body></html> + APPCONF_BALANCE_OVERSPEED_DUTY + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.9 + 1000 + + 9 + + + Duty Cycle Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_DUTY + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.75 + 1000 + + 9 + + + Tiltback Angle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle of rise for tiltback.</p></body></html> + APPCONF_BALANCE_TILTBACK_ANGLE + 1 + 1 + 0 + 45 + 0 + 0 + 0.1 + 15 + 1000 + ° + 9 + + + Tiltback Speed + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which tiltback is applied (High speed tiltback can be dangerous!).</p></body></html> + APPCONF_BALANCE_TILTBACK_SPEED + 1 + 1 + 0 + 100 + 0 + 0 + 0.1 + 5 + 1000 + °/s + 9 + + + High Voltage Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">High voltage value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_HIGH_V + 2 + 1 + 0 + 700 + 0 + 0 + 0.01 + 100 + 1000 + V + 9 + + + Low Voltage Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low voltage value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_LOW_V + 2 + 1 + 0 + 700 + 0 + 0 + 0.01 + 0 + 1000 + V + 9 + + + Startup Pitch Axis Angle Tolerance + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).</span></p></body></html> + APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE + 1 + 1 + 0 + 80 + 0 + 0 + 0.1 + 20 + 1000 + ° + 9 + + + Startup Roll Axis Angle Tolerance + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).</span></p></body></html> + APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE + 1 + 1 + 0 + 80 + 0 + 0 + 0.1 + 8 + 1000 + ° + 9 + + + Startup Centering Speed + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which wheel will center itself on startup.</p></body></html> + APPCONF_BALANCE_STARTUP_SPEED + 1 + 1 + 0 + 100 + 0 + 0 + 0.1 + 30 + 1000 + °/s + 9 + + + Deadzone + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Deadzone disables balancing at center.</p></body></html> + APPCONF_BALANCE_DEADZONE + 2 + 1 + 0 + 5 + 0 + 0 + 0.01 + 0 + 1000 + ° + 9 + + + Current Boost + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">All non-zero current output values will be boosted.</p></body></html> + APPCONF_BALANCE_CURRENT_BOOST + 2 + 1 + 0 + 10 + 0 + 0 + 0.01 + 0 + 1000 + A + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_BALANCE_MULTI_ESC + 0 + + + Yaw P + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KP + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Yaw I + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KI + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Yaw D + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KD + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Roll Steer KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds</p></body></html> + APPCONF_BALANCE_ROLL_STEER_KP + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Brake Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Breaking current to be applied when balance app is not actively balancing.</p></body></html> + APPCONF_BALANCE_BRAKE_CURRENT + 2 + 1 + 0 + 100 + 0 + 0 + 0.01 + 0 + 1000 + A + 9 + + + Overspeed Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Overspeed cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_OVERSPEED_DELAY + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Fault cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Constant Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Tiltback that will be applied above 3% duty cycle. AKA nose angle adjustment, can be downwards too.</p></body></html> + APPCONF_BALANCE_TILTBACK_CONSTANT + 2 + 1 + 0 + 80 + -80 + 0 + 1 + 0 + 1 + ° + 9 + + + Roll Steer ERPM KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.</p></body></html> + APPCONF_BALANCE_ROLL_STEER_ERPM_KP + 5 + 1 + 0 + 10000 + -10000 + 0 + 0.0001 + 0 + 1000 + + 9 + + + Yaw Current Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum current to be applied to yaw motions. This lets you overpower the pid traction.</p></body></html> + APPCONF_BALANCE_YAW_CURRENT_CLAMP + 2 + 1 + 0 + 100 + 0 + 0 + 0.01 + 100 + 1000 + A + 9 + + + ADC Half State Fault ERPM + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.</p></body></html> + APPCONF_BALANCE_ADC_HALF_FAULT_ERPM + 1 + 0 + 100000 + 0 + 0 + 10 + 1,000 + ERPM + 3 + + + Setpoint Pitch Low Pass Filter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low pass filter that combines the pitch angle with the desired balanceing angle. 0 = 100% setpoint, 1 = 100% current pitch angle.</p></body></html> + APPCONF_BALANCE_SETPOINT_PITCH_FILTER + 5 + 1 + 0 + 1 + 0 + 0 + 0.0001 + 0 + 1000 + + 9 + + + Setpoint Target Low Pass Filter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low pass filter that combines the desired setpoint (0 or tiltback) with the current setpoint (modified by the setpoint pitch filter). 0 = 100% current setpoint angle, 1 = 100% desired setpoint. Non 1 values will effect your tiltback speed</p></body></html> + APPCONF_BALANCE_SETPOINT_TARGET_FILTER + 5 + 1 + 0 + 1 + 0 + 0 + 0.0001 + 1 + 1000 + + 9 + + + Setpoint Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum angle (absolute value) the setpoint can travel to. There will be no filtering past this angle.</p></body></html> + APPCONF_BALANCE_SETPOINT_CLAMP + 2 + 1 + 0 + 80 + -0 + 0 + 1 + 80 + 1 + ° + 9 + + + IMU Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected.</p></body></html> + APPCONF_IMU_TYPE + 1 + IMU_TYPE_OFF + IMU_TYPE_INTERNAL + IMU_TYPE_EXTERNAL_MPU9X50 + IMU_TYPE_EXTERNAL_ICM20948 + IMU_TYPE_EXTERNAL_BMI160 + + + IMU AHRS Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the Madgwick or Mahony AHRS filter.</p></body></html> + APPCONF_IMU_AHRS_MODE + 0 + AHRS_MODE_MADGWICK + AHRS_MODE_MAHONY + + + Sample Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">IMU sample rate. Higher sample rates use more CPU cycles, but perform better.</p></body></html> + APPCONF_IMU_SAMPLE_RATE_HZ + 1 + 0 + 1000 + 1 + 0 + 10 + 200 + Hz + 3 + + + Accelerometer Confidence Decay + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.</p></body></html> + APPCONF_IMU_ACCEL_CONFIDENCE_DECAY + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 1 + 1 + + 9 + + + Mahony KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.</p></body></html> + APPCONF_IMU_MAHONY_KP + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 0.3 + 1 + + 9 + + + Mahony KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">KI for Mahony filter. Integrates gyro offsets over time.</p></body></html> + APPCONF_IMU_MAHONY_KI + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 0 + 1 + + 9 + + + Madgwick Beta + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.</p></body></html> + APPCONF_IMU_MADGWICK_BETA + 3 + 1 + 0 + 999 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Imu Rotation Roll + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_ROLL + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Imu Rotation Pitch + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_PITCH + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Imu Rotation Yaw + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_YAW + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Accel Offset X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset X.</p></body></html> + APPCONF_IMU_A_OFFSET_0 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Accel Offset Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset Y.</p></body></html> + APPCONF_IMU_A_OFFSET_1 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Accel Offset Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset Z.</p></body></html> + APPCONF_IMU_A_OFFSET_2 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Gyro Offset X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) X.</p></body></html> + APPCONF_IMU_G_OFFSET_0 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) Y.</p></body></html> + APPCONF_IMU_G_OFFSET_1 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) Z.</p></body></html> + APPCONF_IMU_G_OFFSET_2 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for X axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_0 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for Y axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_1 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for Z axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_2 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation clamping. This value clamps the integrated gyro offsets.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_CLAMP + 3 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 5 + 1 + °/s + 9 + + + + controller_id + timeout_msec + timeout_brake_current + send_can_status + send_can_status_rate_hz + can_baud_rate + pairing_done + permanent_uart_enabled + shutdown_mode + can_mode + uavcan_esc_index + app_to_use + app_ppm_conf.ctrl_type + app_ppm_conf.pid_max_erpm + app_ppm_conf.hyst + app_ppm_conf.pulse_start + app_ppm_conf.pulse_end + app_ppm_conf.pulse_center + app_ppm_conf.median_filter + app_ppm_conf.safe_start + app_ppm_conf.throttle_exp + app_ppm_conf.throttle_exp_brake + app_ppm_conf.throttle_exp_mode + app_ppm_conf.ramp_time_pos + app_ppm_conf.ramp_time_neg + app_ppm_conf.multi_esc + app_ppm_conf.tc + app_ppm_conf.tc_max_diff + app_ppm_conf.max_erpm_for_dir + app_ppm_conf.smart_rev_max_duty + app_ppm_conf.smart_rev_ramp_time + app_adc_conf.ctrl_type + app_adc_conf.hyst + app_adc_conf.voltage_start + app_adc_conf.voltage_end + app_adc_conf.voltage_center + app_adc_conf.voltage2_start + app_adc_conf.voltage2_end + app_adc_conf.use_filter + app_adc_conf.safe_start + app_adc_conf.cc_button_inverted + app_adc_conf.rev_button_inverted + app_adc_conf.voltage_inverted + app_adc_conf.voltage2_inverted + app_adc_conf.throttle_exp + app_adc_conf.throttle_exp_brake + app_adc_conf.throttle_exp_mode + app_adc_conf.ramp_time_pos + app_adc_conf.ramp_time_neg + app_adc_conf.multi_esc + app_adc_conf.tc + app_adc_conf.tc_max_diff + app_adc_conf.update_rate_hz + app_uart_baudrate + app_chuk_conf.ctrl_type + app_chuk_conf.hyst + app_chuk_conf.ramp_time_pos + app_chuk_conf.ramp_time_neg + app_chuk_conf.stick_erpm_per_s_in_cc + app_chuk_conf.throttle_exp + app_chuk_conf.throttle_exp_brake + app_chuk_conf.throttle_exp_mode + app_chuk_conf.multi_esc + app_chuk_conf.tc + app_chuk_conf.tc_max_diff + app_chuk_conf.use_smart_rev + app_chuk_conf.smart_rev_max_duty + app_chuk_conf.smart_rev_ramp_time + app_nrf_conf.speed + app_nrf_conf.power + app_nrf_conf.crc_type + app_nrf_conf.retry_delay + app_nrf_conf.retries + app_nrf_conf.channel + app_nrf_conf.address__0 + app_nrf_conf.address__1 + app_nrf_conf.address__2 + app_nrf_conf.send_crc_ack + app_balance_conf.kp + app_balance_conf.ki + app_balance_conf.kd + app_balance_conf.hertz + app_balance_conf.pitch_fault + app_balance_conf.roll_fault + app_balance_conf.adc1 + app_balance_conf.adc2 + app_balance_conf.overspeed_duty + app_balance_conf.tiltback_duty + app_balance_conf.tiltback_angle + app_balance_conf.tiltback_speed + app_balance_conf.tiltback_high_voltage + app_balance_conf.tiltback_low_voltage + app_balance_conf.startup_pitch_tolerance + app_balance_conf.startup_roll_tolerance + app_balance_conf.startup_speed + app_balance_conf.deadzone + app_balance_conf.current_boost + app_balance_conf.multi_esc + app_balance_conf.yaw_kp + app_balance_conf.yaw_ki + app_balance_conf.yaw_kd + app_balance_conf.roll_steer_kp + app_balance_conf.brake_current + app_balance_conf.overspeed_delay + app_balance_conf.fault_delay + app_balance_conf.tiltback_constant + app_balance_conf.roll_steer_erpm_kp + app_balance_conf.yaw_current_clamp + app_balance_conf.adc_half_fault_erpm + app_balance_conf.setpoint_pitch_filter + app_balance_conf.setpoint_target_filter + app_balance_conf.setpoint_clamp + imu_conf.type + imu_conf.mode + imu_conf.sample_rate_hz + imu_conf.accel_confidence_decay + imu_conf.mahony_kp + imu_conf.mahony_ki + imu_conf.madgwick_beta + imu_conf.rot_roll + imu_conf.rot_pitch + imu_conf.rot_yaw + imu_conf.accel_offsets__0 + imu_conf.accel_offsets__1 + imu_conf.accel_offsets__2 + imu_conf.gyro_offsets__0 + imu_conf.gyro_offsets__1 + imu_conf.gyro_offsets__2 + imu_conf.gyro_offset_comp_fact__0 + imu_conf.gyro_offset_comp_fact__1 + imu_conf.gyro_offset_comp_fact__2 + imu_conf.gyro_offset_comp_clamp + + + + General + + General + + app_to_use + controller_id + timeout_msec + timeout_brake_current + send_can_status + send_can_status_rate_hz + can_baud_rate + pairing_done + permanent_uart_enabled + shutdown_mode + can_mode + uavcan_esc_index + + + + + PPM + + General + + app_ppm_conf.ctrl_type + app_ppm_conf.median_filter + app_ppm_conf.safe_start + app_ppm_conf.pid_max_erpm + app_ppm_conf.ramp_time_pos + app_ppm_conf.ramp_time_neg + app_ppm_conf.max_erpm_for_dir + app_ppm_conf.smart_rev_max_duty + app_ppm_conf.smart_rev_ramp_time + ::sep::Multiple VESCs over CAN + app_ppm_conf.multi_esc + app_ppm_conf.tc + app_ppm_conf.tc_max_diff + + + + Mapping + + app_ppm_conf.pulse_start + app_ppm_conf.pulse_end + app_ppm_conf.pulse_center + app_ppm_conf.hyst + + + + Throttle Curve + + app_ppm_conf.throttle_exp + app_ppm_conf.throttle_exp_brake + app_ppm_conf.throttle_exp_mode + + + + + ADC + + General + + app_adc_conf.ctrl_type + app_adc_conf.use_filter + app_adc_conf.safe_start + app_adc_conf.cc_button_inverted + app_adc_conf.rev_button_inverted + app_adc_conf.update_rate_hz + app_adc_conf.ramp_time_pos + app_adc_conf.ramp_time_neg + ::sep::Multiple VESCs over CAN-bus + app_adc_conf.multi_esc + app_adc_conf.tc + app_adc_conf.tc_max_diff + + + + Mapping + + app_adc_conf.hyst + ::sep::ADC 1 + app_adc_conf.voltage_start + app_adc_conf.voltage_end + app_adc_conf.voltage_center + app_adc_conf.voltage_inverted + ::sep::ADC 2 + app_adc_conf.voltage2_start + app_adc_conf.voltage2_end + app_adc_conf.voltage2_inverted + + + + Throttle Curve + + app_adc_conf.throttle_exp + app_adc_conf.throttle_exp_brake + app_adc_conf.throttle_exp_mode + + + + + UART + + General + + app_uart_baudrate + + + + + VESC Remote + + General + + app_chuk_conf.ctrl_type + app_chuk_conf.ramp_time_pos + app_chuk_conf.ramp_time_neg + app_chuk_conf.stick_erpm_per_s_in_cc + app_chuk_conf.hyst + app_chuk_conf.use_smart_rev + app_chuk_conf.smart_rev_max_duty + app_chuk_conf.smart_rev_ramp_time + ::sep::Multiple VESCs over CAN-bus + app_chuk_conf.multi_esc + app_chuk_conf.tc + app_chuk_conf.tc_max_diff + + + + Throttle Curve + + app_chuk_conf.throttle_exp + app_chuk_conf.throttle_exp_brake + app_chuk_conf.throttle_exp_mode + + + + + NRF + + General + + ::sep::Radio + app_nrf_conf.power + app_nrf_conf.speed + app_nrf_conf.channel + ::sep::Integrity + app_nrf_conf.crc_type + app_nrf_conf.send_crc_ack + app_nrf_conf.retry_delay + app_nrf_conf.retries + ::sep::Address + app_nrf_conf.address__0 + app_nrf_conf.address__1 + app_nrf_conf.address__2 + + + + + Balance + + Config + + ::sep::Startup + app_balance_conf.startup_pitch_tolerance + app_balance_conf.startup_roll_tolerance + app_balance_conf.startup_speed + app_balance_conf.brake_current + ::sep::Tiltback + app_balance_conf.tiltback_angle + app_balance_conf.tiltback_speed + app_balance_conf.tiltback_duty + app_balance_conf.tiltback_high_voltage + app_balance_conf.tiltback_low_voltage + app_balance_conf.tiltback_constant + ::sep::Overspeed + app_balance_conf.overspeed_duty + app_balance_conf.overspeed_delay + ::sep::Fault + app_balance_conf.pitch_fault + app_balance_conf.roll_fault + app_balance_conf.adc1 + app_balance_conf.adc2 + app_balance_conf.adc_half_fault_erpm + app_balance_conf.fault_delay + + + + Tune + + ::sep::PID + app_balance_conf.kp + app_balance_conf.ki + app_balance_conf.kd + ::sep::Main Loop + app_balance_conf.hertz + ::sep::Balance Filtering + app_balance_conf.setpoint_pitch_filter + app_balance_conf.setpoint_target_filter + app_balance_conf.setpoint_clamp + ::sep::Multi ESC + app_balance_conf.multi_esc + app_balance_conf.yaw_kp + app_balance_conf.yaw_ki + app_balance_conf.yaw_kd + app_balance_conf.roll_steer_kp + app_balance_conf.roll_steer_erpm_kp + app_balance_conf.yaw_current_clamp + ::sep::Experimental + app_balance_conf.deadzone + app_balance_conf.current_boost + + + + + IMU + + General + + imu_conf.type + imu_conf.sample_rate_hz + ::sep::Filters + imu_conf.mode + imu_conf.accel_confidence_decay + imu_conf.mahony_kp + imu_conf.mahony_ki + imu_conf.madgwick_beta + ::sep::Rotation + imu_conf.rot_roll + imu_conf.rot_pitch + imu_conf.rot_yaw + ::sep::Offsets + imu_conf.accel_offsets__0 + imu_conf.accel_offsets__1 + imu_conf.accel_offsets__2 + imu_conf.gyro_offsets__0 + imu_conf.gyro_offsets__1 + imu_conf.gyro_offsets__2 + imu_conf.gyro_offset_comp_fact__0 + imu_conf.gyro_offset_comp_fact__1 + imu_conf.gyro_offset_comp_fact__2 + imu_conf.gyro_offset_comp_clamp + + + + + diff --git a/res/config/5.02/parameters_mcconf.xml b/res/config/5.02/parameters_mcconf.xml new file mode 100644 index 000000000..cf0940ab5 --- /dev/null +++ b/res/config/5.02/parameters_mcconf.xml @@ -0,0 +1,3630 @@ + + + + + PWM Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems.</p></body></html> + MCCONF_PWM_MODE + 1 + Nonsynchronous HISW + Synchronous + Bipolar + + + Commutation Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Delay</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Integrate</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters.</p></body></html> + MCCONF_COMM_MODE + 0 + Integrate + Delay + + + Motor Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">BLDC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Trapezoidal commutation mode for PMSM motors.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">DC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">DC motor. A DC motor is connected to phase 1 and phase 3.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">FOC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">GPD</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples.</span></p></body></html> + MCCONF_DEFAULT_MOTOR_TYPE + 2 + BLDC + DC + FOC + GPD + + + Sensor Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed.</p></body></html> + MCCONF_SENSOR_MODE + 0 + Sensorless + Sensored + Hybrid + + + Motor Current Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum motor current.</span></p></body></html> + MCCONF_L_CURRENT_MAX + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 60 + 1000 + A + 9 + + + Motor Current Max Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.</span></p></body></html> + MCCONF_L_CURRENT_MIN + 2 + 1 + 0 + 0 + -1000 + 0 + 1 + -60 + 1000 + A + 9 + + + Battery Current Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.</span></p></body></html> + MCCONF_L_IN_CURRENT_MAX + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 99 + 1000 + A + 9 + + + Battery Current Max Regen + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.</span></p></body></html> + MCCONF_L_IN_CURRENT_MIN + 2 + 1 + 0 + 0 + -1000 + 0 + 1 + -60 + 1000 + A + 9 + + + Absolute Maximum Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The current magnitute above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.</span></p></body></html> + MCCONF_L_MAX_ABS_CURRENT + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 150 + 1000 + A + 9 + + + Max ERPM Reverse + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum reverse electrical RPM.</p></body></html> + MCCONF_L_RPM_MIN + 2 + 1 + 0 + 0 + -1e+06 + 0 + 100 + -100000 + 1000 + + 9 + + + Max ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum electrical RPM.</p></body></html> + MCCONF_L_RPM_MAX + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 100000 + 1000 + + 9 + + + ERPM Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer.</span></p></body></html> + MCCONF_L_RPM_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.8 + 1e+06 + + 9 + + + Max ERPM Full Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum ERPM at which a full brake is allowed (BLDC Only).</p></body></html> + MCCONF_L_CURR_MAX_RPM_FBRAKE + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 300 + 1000 + + 9 + + + Max ERPM Full Brake Current Control + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM below which a direction change is allowed in current control (BLDC Only).</p></body></html> + MCCONF_L_CURR_MAX_RPM_FBRAKE_CC + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 1500 + 1000 + + 9 + + + Minimum Input Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage below which a fault code is thrown.</p></body></html> + MCCONF_L_MIN_VOLTAGE + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 8 + 1000 + V + 9 + + + Maximum Input Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage above which a fault code is thrown.</p></body></html> + MCCONF_L_MAX_VOLTAGE + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 57 + 1000 + V + 9 + + + Battery Voltage Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.</p></body></html> + MCCONF_L_BATTERY_CUT_START + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 10 + 1000 + V + 9 + + + Battery Voltage Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.</p></body></html> + MCCONF_L_BATTERY_CUT_END + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 8 + 1000 + V + 9 + + + Slow ABS Current Limit + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.</p></body></html> + MCCONF_L_SLOW_ABS_OVERCURRENT + 1 + + + MOSFET Temp Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The MOSFET temperature at which motor current starts to get reduced.</p></body></html> + MCCONF_L_LIM_TEMP_FET_START + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 85 + 1000 + °C + 9 + + + MOSFET Temp Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The MOSFET temperature above which motor current is not allowed and a fault is thrown.</p></body></html> + MCCONF_L_LIM_TEMP_FET_END + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 100 + 1000 + °C + 9 + + + Motor Temp Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor temperature at which motor current starts to get reduced.</p></body></html> + MCCONF_L_LIM_TEMP_MOTOR_START + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 85 + 1000 + °C + 9 + + + Motor Temp Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor temperature above which motor current is not allowed and a fault is thrown.</p></body></html> + MCCONF_L_LIM_TEMP_MOTOR_END + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 100 + 1000 + °C + 9 + + + Acceleration Temperature Decrease + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C.</span></p></body></html> + MCCONF_L_LIM_TEMP_ACCEL_DEC + 0 + 100 + 1 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Minimum Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Minimum allowed duty cycle.</span></p></body></html> + MCCONF_L_MIN_DUTY + 1 + 100 + 0 + 1 + 0 + 1 + 0.5 + 0.005 + 1e+06 + % + 9 + + + Maximum Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum allowed duty cycle.</span></p></body></html> + MCCONF_L_MAX_DUTY + 1 + 100 + 0 + 1 + 0 + 1 + 0.5 + 0.95 + 1e+06 + % + 9 + + + Maximum Wattage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practise since torque, heat losses, mechanical wear and component load are all current dependent.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.</p></body></html> + MCCONF_L_WATT_MAX + 1 + 1 + 0 + 2e+06 + 0 + 0 + 1 + 1.5e+06 + 1 + W + 9 + + + Maximum Braking Wattage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum allowed braking wattage (thus negative). There usuallt aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.</p></body></html> + MCCONF_L_WATT_MIN + 1 + 1 + 0 + 0 + -2e+06 + 0 + 1 + -1.5e+06 + 1 + W + 9 + + + Max Current Scale + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.</span></p></body></html> + MCCONF_L_CURRENT_MAX_SCALE + 2 + 1 + 1 + 1 + 0 + 1 + 0.05 + 1 + 1000 + + 9 + + + Min Current Scale + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.</span></p></body></html> + MCCONF_L_CURRENT_MIN_SCALE + 2 + 1 + 1 + 1 + 0 + 1 + 0.05 + 1 + 1000 + + 9 + + + Duty Cycle Current Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit.</span></p></body></html> + MCCONF_L_DUTY_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 1 + 1e+06 + + 9 + + + Minimum ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value.</p></body></html> + MCCONF_SL_MIN_RPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 150 + 1000 + + 9 + + + Minimum ERPM Integrator + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup.</span></p></body></html> + MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 1100 + 1000 + + 9 + + + Max Brake Current at Direction Change + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow motor direction change below this current.</p></body></html> + MCCONF_SL_MAX_FB_CURR_DIR_CHANGE + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 10 + 1000 + A + 9 + + + Cycle Integrator Limit + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cycle ingegrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.</p></body></html> + MCCONF_SL_CYCLE_INT_LIMIT + 2 + 1 + 0 + 5000 + 0 + 0 + 1 + 62 + 1000 + + 9 + + + Phase Advance at BR ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM.</p></body></html> + MCCONF_SL_PHASE_ADVANCE_AT_BR + 2 + 1 + 0 + 1 + 0 + 0 + 0.05 + 0.8 + 1000 + + 9 + + + BR ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM at which phase advance (timing) is the maximum.</p></body></html> + MCCONF_SL_CYCLE_INT_BR + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 80000 + 1000 + + 9 + + + BEMF Coupling + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot.</p></body></html> + MCCONF_SL_BEMF_COUPLING_K + 2 + 1 + 0 + 5000 + 0 + 0 + 1 + 600 + 1000 + + 9 + + + Hall Table [0] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 0.</p></body></html> + MCCONF_HALL_TAB_0 + 1 + 0 + 6 + -1 + 0 + 1 + -1 + + 2 + + + Hall Table [1] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 1.</p></body></html> + MCCONF_HALL_TAB_1 + 1 + 0 + 6 + -1 + 0 + 1 + 1 + + 2 + + + Hall Table [2] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 2.</p></body></html> + MCCONF_HALL_TAB_2 + 1 + 0 + 6 + -1 + 0 + 1 + 3 + + 2 + + + Hall Table [3] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 3.</p></body></html> + MCCONF_HALL_TAB_3 + 1 + 0 + 6 + -1 + 0 + 1 + 2 + + 2 + + + Hall Table [4] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 4.</p></body></html> + MCCONF_HALL_TAB_4 + 1 + 0 + 6 + -1 + 0 + 1 + 5 + + 2 + + + Hall Table [5] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 5.</p></body></html> + MCCONF_HALL_TAB_5 + 1 + 0 + 6 + -1 + 0 + 1 + 6 + + 2 + + + Hall Table [6] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 6.</p></body></html> + MCCONF_HALL_TAB_6 + 1 + 0 + 6 + -1 + 0 + 1 + 4 + + 2 + + + Hall Table [7] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 7.</p></body></html> + MCCONF_HALL_TAB_7 + 1 + 0 + 6 + -1 + 0 + 1 + -1 + + 2 + + + Sensorless ERPM Hybrid + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM above which sensorless commutation is used in hybrid mode.</p></body></html> + MCCONF_HALL_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2000 + 1000 + + 9 + + + Current KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current controller proportional gain.</span></p></body></html> + MCCONF_FOC_CURRENT_KP + 4 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 0.03 + 100000 + + 9 + + + Current KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current controller integral gain.</span></p></body></html> + MCCONF_FOC_CURRENT_KI + 2 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 50 + 100000 + + 9 + + + Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The switching frequency. The controllers and estimators will run at half of this frequency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">If the option </span><span style=" font-family:'Sans Serif'; font-weight:600;">Sample in V0 and V7</span><span style=" font-family:'Sans Serif';"> is active the controllers and estimators will run at the full switching frequency, but this option is only available on hardware with phase shunts.</span></p></body></html> + MCCONF_FOC_F_SW + 1 + 0.001 + 0 + 150000 + 0 + 0 + 1 + 25000 + 1000 + kHz + 9 + + + Dead Time Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Compensation for dead time distortion. Makes some difference at low speed.</p></body></html> + MCCONF_FOC_DT_US + 3 + 1 + 0 + 1000 + 0 + 0 + 0.01 + 0.12 + 1e+06 + µS + 9 + + + Encoder Inverted + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The encoder is inverted if it counts backwards while the motor is turning forwards.</p></body></html> + MCCONF_FOC_ENCODER_INVERTED + 0 + + + Encoder Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Offset between the encoder zero and motor zero points.</p></body></html> + MCCONF_FOC_ENCODER_OFFSET + 2 + 1 + 0 + 360 + 0 + 0 + 1 + 180 + 1000 + + 9 + + + Encoder Ratio + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7.</p></body></html> + MCCONF_FOC_ENCODER_RATIO + 2 + 1 + 0 + 10000 + 0 + 0 + 1 + 7 + 1000 + + 9 + + + Sin/Cos Sine Gain Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.</span></p></body></html> + MCCONF_FOC_ENCODER_SIN_GAIN + 2 + 1 + 0 + 2 + 0 + 0 + 0.01 + 1 + 1000 + + 9 + + + Sin/Cos Cosine Gain Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.</span></p></body></html> + MCCONF_FOC_ENCODER_COS_GAIN + 2 + 1 + 0 + 2 + 0 + 0 + 0.01 + 1 + 1000 + + 9 + + + Sin/Cos Sine Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sin/Cos Encoder Sine Offset.</span></p></body></html> + MCCONF_FOC_ENCODER_SIN_OFFSET + 2 + 1 + 0 + 3.3 + 0 + 0 + 0.01 + 1.65 + 1000 + + 9 + + + Sin/Cos Cosine Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sin/Cos Encoder Sine Offset.</span></p></body></html> + MCCONF_FOC_ENCODER_COS_OFFSET + 2 + 1 + 0 + 3.3 + 0 + 0 + 0.01 + 1.65 + 1000 + + 9 + + + Sin/Cos Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sin/Cos Encoder low pass filter constant. </span><span style=" font-family:'Ubuntu';">Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.</span></p></body></html> + MCCONF_FOC_ENCODER_SINCOS_FILTER + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.5 + 1000 + + 9 + + + Sensor Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sensor mode for the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Sensorless</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Use an encoder on the motor shaft. Works well for position control applications such as CNC mills.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Hall Sensors</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">HFI</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance.</span></p></body></html> + MCCONF_FOC_SENSOR_MODE + 0 + Sensorless + Encoder + Hall Sensors + HFI + + + Speed Tracker Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle.</p></body></html> + MCCONF_FOC_PLL_KP + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 2000 + 1000 + + 9 + + + Speed Tracker Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle.</p></body></html> + MCCONF_FOC_PLL_KI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 30000 + 1000 + + 9 + + + Motor Inductance (L) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The average of LD and LQ inductance.</p></body></html> + MCCONF_FOC_MOTOR_L + 2 + 1e+06 + 0 + 10 + 0 + 0 + 0.1 + 7e-06 + 1e+08 + µH + 9 + + + Motor Resistance (R) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The motor winding resistance. Should be half of what is measured between two motor wires.</span></p></body></html> + MCCONF_FOC_MOTOR_R + 1 + 1000 + 0 + 1000 + 0 + 0 + 0.1 + 0.015 + 100000 + mΩ + 9 + + + Motor Flux Linkage (λ) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The flux linkage of the motor (λ) [mWb]</span></p></body></html> + MCCONF_FOC_MOTOR_FLUX_LINKAGE + 3 + 1000 + 0 + 1000 + 0 + 0 + 0.01 + 0.00245 + 100000 + mWb + 9 + + + Observer Gain (x1M) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case.</span></p></body></html> + MCCONF_FOC_OBSERVER_GAIN + 2 + 1e-06 + 0 + 2e+10 + 0 + 0 + 1 + 9e+07 + 0.01 + + 9 + + + Observer Gain At Minimum Duty + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations.</span></p></body></html> + MCCONF_FOC_OBSERVER_GAIN_SLOW + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.3 + 0.01 + + 9 + + + Duty Downramp Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.</p></body></html> + MCCONF_FOC_DUTY_DOWNRAMP_KP + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 10 + 1000 + + 9 + + + Duty Downramp Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.</p></body></html> + MCCONF_FOC_DUTY_DOWNRAMP_KI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 200 + 1000 + + 9 + + + Openloop ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.</p></body></html> + MCCONF_FOC_OPENLOOP_RPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 400 + 1000 + + 9 + + + Openloop Hysteresis + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time.</p></body></html> + MCCONF_FOC_SL_OPENLOOP_HYST + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.1 + 1000 + S + 9 + + + Openloop Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Stay in openloop for this amount of time after triggering it.</p></body></html> + MCCONF_FOC_SL_OPENLOOP_TIME + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.1 + 1000 + S + 9 + + + D Current Injection Duty + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inject D axis current below this duty cycle. D axis current injection can help the observer at low speed in some cases.</p></body></html> + MCCONF_FOC_SL_D_CURRENT_DUTY + 2 + 1 + 0 + 1 + 0 + 0 + 0.05 + 0 + 1000 + + 9 + + + D Current Injection Factor + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use this factor times the Q axis current for the D axis current injection. D axis current injection can help the observer at low speed in some cases.</p></body></html> + MCCONF_FOC_SL_D_CURRENT_FACTOR + 2 + 1 + 0 + 10 + 0 + 0 + 0.05 + 0 + 1000 + + 9 + + + Hall Table [0] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 0.</p></body></html> + MCCONF_FOC_HALL_TAB_0 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [1] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 1.</p></body></html> + MCCONF_FOC_HALL_TAB_1 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [2] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 2.</p></body></html> + MCCONF_FOC_HALL_TAB_2 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [3] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 3.</p></body></html> + MCCONF_FOC_HALL_TAB_3 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [4] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 4.</p></body></html> + MCCONF_FOC_HALL_TAB_4 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [5] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 5.</p></body></html> + MCCONF_FOC_HALL_TAB_5 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [6] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 6.</p></body></html> + MCCONF_FOC_HALL_TAB_6 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [7] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 7.</p></body></html> + MCCONF_FOC_HALL_TAB_7 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Sensorless ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM above which sensorless commutation is used in sensored modes.</p></body></html> + MCCONF_FOC_SL_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2500 + 1000 + + 9 + + + Sample in V0 and V7 + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Note</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.</span></p></body></html> + MCCONF_FOC_SAMPLE_V0_V7 + 0 + + + High Current Sampling Mode + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Note</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.</span></p></body></html> + MCCONF_FOC_SAMPLE_HIGH_CURRENT + 0 + + + Stator Saturation Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Stator saturation compensation.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &quot;cog&quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Consider the following:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.</li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Coreless motors should in theory never get saturated.</li> +<li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.</li></ul></body></html> + MCCONF_FOC_SAT_COMP + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0 + 1 + + 9 + + + Temp Comp + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured.</p></body></html> + MCCONF_FOC_TEMP_COMP + 0 + + + Temp Comp Base Temp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motor temperature at which the motor resistance was measured.</p></body></html> + MCCONF_FOC_TEMP_COMP_BASE_TEMP + 1 + 1 + 0 + 120 + -120 + 0 + 1 + 25 + 1 + °C + 9 + + + Current Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.</span></p></body></html> + MCCONF_FOC_CURRENT_FILTER_CONST + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Current Controller Decoupling + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_DISABLED</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Decoupling is disabled</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_CROSS</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cross decoupling between the D and Q axes is enabled.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_BEMF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Back EMF decoupling on the Q axis is enabled. This improves perfomance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_CROSS_BEMF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Both options above are enabled.</p></body></html> + MCCONF_FOC_CC_DECOUPLING + 2 + FOC_CC_DECOUPLING_DISABLED + FOC_CC_DECOUPLING_CROSS + FOC_CC_DECOUPLING_BEMF + FOC_CC_DECOUPLING_CROSS_BEMF + + + Observer Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Type of rotor position observer for field oriented control (FOC). The options are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_OBSERVER_ORTEGA_ORIGINAL</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The observer described here:</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><a href="http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf"><span style=" text-decoration: underline; color:#0000ff;">http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf</span></a></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_OBSERVER_ORTEGA_ITERATIVE</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Same as above, but with some iterations to make it track better when the ERPM is high relative to the switching frequency. It seems to make things worse for most regular speed motors though (e.g. &lt; 120k ERPM @ 25 kHz).</p></body></html> + MCCONF_FOC_OBSERVER_TYPE + 0 + FOC_OBSERVER_ORTEGA_ORIGINAL + FOC_OBSERVER_ORTEGA_ITERATIVE + + + HFI Start Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_START + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 20 + 1000 + V + 9 + + + HFI Run Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">HFI voltage during operation, after ambiguity has been resolved.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_RUN + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 4 + 1000 + V + 9 + + + HFI Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_MAX + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 10 + 1000 + V + 9 + + + Sensorless ERPM HFI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">ERPM below which HFI is used.</span></p></body></html> + MCCONF_FOC_SL_ERPM_HFI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2000 + 1000 + + 9 + + + HFI Start Samples + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable.</p></body></html> + MCCONF_FOC_HFI_START_SAMPLES + 1 + 0 + 60000 + 2 + 0 + 1 + 65 + + 3 + + + HFI Observer Override Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Settings this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.</p></body></html> + MCCONF_FOC_HFI_OBS_OVR_SEC + 1 + 1000 + 0 + 5000 + 0 + 0 + 1 + 0.001 + 1000 + ms + 9 + + + HFI Samples + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of fourier transforms and sine tables depends on it.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.</p></body></html> + MCCONF_FOC_HFI_SAMPLES + 1 + 8 + 16 + 32 + + + Min ERPM with no input + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Turn off HFI when the motor is slower than this ERPM and no movement is commanded. Set to 0 to always keep HFI enabled.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only applicable to the duty cycle and PID speed control modes.</p></body></html> + MCCONF_FOC_HFI_DISABLE_STOPPED_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 10 + 0 + 1 + + 9 + + + Buffer Notification Length + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Send notification when the sample fifo buffer has less than this amount of samples left.</p></body></html> + MCCONF_GPD_BUFFER_NOTIFY_LEFT + 1 + 0 + 2048 + 0 + 0 + 10 + 200 + + 4 + + + Buffer Sampling Interpolation + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Interpolate buffer samples, meaning that they are used for several pwm cycles. This number defines for how many samples a sample is reused. 0 means that a new sample is picked every cycle, 1 means that one sample is used twice etc.</p></body></html> + MCCONF_GPD_BUFFER_INTERPOL + 1 + 0 + 2048 + 0 + 0 + 1 + 0 + + 4 + + + Current Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Constant for the filtered current in the GPD implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.</span></p></body></html> + MCCONF_GPD_CURRENT_FILTER_CONST + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Current KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current controller proportional gain.</span></p></body></html> + MCCONF_GPD_CURRENT_KP + 4 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 0.03 + 100000 + + 9 + + + Current KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Current controller integral gain.</span></p></body></html> + MCCONF_GPD_CURRENT_KI + 2 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 50 + 100000 + + 9 + + + Speed PID Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KP + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.004 + 1e+06 + + 9 + + + Speed PID Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KI + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.004 + 1e+06 + + 9 + + + Speed PID Kd + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KD + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.0001 + 1e+06 + + 9 + + + Speed PID Kd Filer + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Filter on derivative term for speed controller. </span><span style=" font-family:'Sans Serif';">The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.</span></p></body></html> + MCCONF_S_PID_KD_FILTER + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.2 + 1e+06 + + 9 + + + Minimum ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM below which the speed controller is disabled.</p></body></html> + MCCONF_S_PID_MIN_RPM + 1 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 900 + 1000 + + 9 + + + Allow Braking + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Allow the speed controller to to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.</p></body></html> + MCCONF_S_PID_ALLOW_BRAKING + 1 + + + Position PID Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the position controller.</p></body></html> + MCCONF_P_PID_KP + 5 + 1 + 0 + 10000 + 0 + 0 + 0.001 + 0.03 + 1e+06 + + 9 + + + Position PID Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the position controller.</p></body></html> + MCCONF_P_PID_KI + 5 + 1 + 0 + 10000 + 0 + 0 + 0.001 + 0 + 1e+06 + + 9 + + + Position PID Kd + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Derivative gain for the position controller.</p></body></html> + MCCONF_P_PID_KD + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.0004 + 1e+06 + + 9 + + + Position PID Kd Filer + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.</span></p></body></html> + MCCONF_P_PID_KD_FILTER + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.2 + 1e+06 + + 9 + + + Position Angle Division + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle division for the position controller. Can be used to map one control rotation to several motor rotations.</p></body></html> + MCCONF_P_PID_ANG_DIV + 3 + 1 + 0 + 10000 + 0 + 0 + 1 + 1 + 100000 + + 9 + + + Startup boost + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.</p></body></html> + MCCONF_CC_STARTUP_BOOST_DUTY + 3 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.01 + 1e+06 + + 9 + + + Minimum Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum current used by the current controller. Commanded currents below this value will release the motor.</p></body></html> + MCCONF_CC_MIN_CURRENT + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 0.05 + 1000 + A + 9 + + + Current Controller Gain + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the BLDC and DC current controller. Should be lower for low inductance motors.</p></body></html> + MCCONF_CC_GAIN + 5 + 1 + 0 + 5 + 0 + 0 + 0.0005 + 0.0046 + 1e+06 + + 9 + + + Current Control Ramp Step Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum duty cycle ramp step in current control mode for DC and BLDC motors.</p></body></html> + MCCONF_CC_RAMP_STEP + 4 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.04 + 1e+06 + + 9 + + + Fault Stop Time + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Amount of time to leave the motor disabled after a fault code.</p></body></html> + MCCONF_M_FAULT_STOP_TIME + 1 + 0 + 30000000 + -1 + 0 + 500 + 500 + ms + 6 + + + Duty Ramp Step Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum duty cycle ramp step for DC and BLDC motors.</p></body></html> + MCCONF_M_RAMP_STEP + 4 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.02 + 1e+06 + + 9 + + + Current Backoff Gain + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode.</p></body></html> + MCCONF_M_CURRENT_BACKOFF_GAIN + 4 + 1 + 0 + 50 + 0 + 0 + 0.01 + 0.5 + 1e+06 + + 9 + + + ABI Encoder Counts + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.</p></body></html> + MCCONF_M_ENCODER_COUNTS + 1 + 0 + 30000000 + 0 + 0 + 1 + 8192 + + 5 + + + Sensor Port Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The modes are:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">Hall Sensors</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">The motor has hall sensors built in which give a position resolution of 120 degrees.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">ABI Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">AS5047 Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">SIN/COS Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering, transient protections and shielded wiring.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">TS5700N8501 Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the </span><span style=" font-family:'sans-serif';">ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif'; font-weight:600;">TS5700N8501 Encoder Multiturn</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans Serif';">Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans Serif';"><br /></p></body></html> + MCCONF_M_SENSOR_PORT_MODE + 0 + Hall Sensors + ABI Encoder + AS5047 Encoder + AD2S1205 Resolver + Sin/Cos Encoder + TS5700N8501 Encoder + TS5700N8501 Encoder (Multiturn) + + + Invert Motor Direction + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in <span style=" font-weight:600;">mc_interface</span> will respect this setting, so it should work as well as swithcing two motor cables for all applications.</p></body></html> + MCCONF_M_INVERT_DIRECTION + 0 + + + DRV8301 OC Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Notice</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This setting only has impact on hardware with the DRV8301</p></body></html> + MCCONF_M_DRV8301_OC_MODE + 0 + Current Limit + OC Latch Shutdown + Report Only + Disabled + + + DRV8301 OC Adjustment + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more imformation about this setting.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Notice</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This setting only has impact on hardware with the DRV8301</p></body></html> + MCCONF_M_DRV8301_OC_ADJ + 1 + 0 + 31 + 0 + 0 + 1 + 16 + + 1 + + + Minimum Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The minimum switching frequency in BLDC mode.</p></body></html> + MCCONF_M_BLDC_F_SW_MIN + 2 + 0.001 + 0 + 40000 + 3000 + 0 + 1 + 3000 + 1 + kHz + 9 + + + Maximum Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum switching frequency in BLDC mode.</p></body></html> + MCCONF_M_BLDC_F_SW_MAX + 2 + 0.001 + 0 + 40000 + 3000 + 0 + 1 + 35000 + 1 + kHz + 9 + + + Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The switching frequency in DC mode.</p></body></html> + MCCONF_M_DC_F_SW + 2 + 0.001 + 0 + 25000 + 3000 + 0 + 1 + 25000 + 1 + kHz + 9 + + + Beta Value for Motor Thermistor + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beta Value for Motor Thermistor.</p></body></html> + MCCONF_M_NTC_MOTOR_BETA + 1 + 1 + 0 + 100000 + 100 + 0 + 1 + 3380 + 1 + K + 9 + + + Auxiliary Output Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging.</span></p></body></html> + MCCONF_M_OUT_AUX_MODE + 0 + Off + On after 2 seconds + On after 5 seconds + On after 10 seconds + Unused + + + Motor Temperature Sensor Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84).</p></body></html> + MCCONF_M_MOTOR_TEMP_SENS_TYPE + 0 + NTC 10K at 25°C + PTC 1K at 100 °C + KTY83/122 + + + Coefficient for PTC Motor Thermistor + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Coefficient for PTC Motor Thermistor. Unit: %/K</span></p></body></html> + MCCONF_M_PTC_MOTOR_COEFF + 3 + 1 + 0 + 100 + 0.05 + 0 + 0.01 + 0.61 + 1 + %/K + 9 + + + Motor Poles + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation.</p></body></html> + MCCONF_SI_MOTOR_POLES + 1 + 0 + 254 + 2 + 0 + 2 + 14 + + 1 + + + Gear Ratio + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">36 / 12 = <span style=" font-weight:600;">3.0</span></p></body></html> + MCCONF_SI_GEAR_RATIO + 3 + 1 + 0 + 9999 + 0 + 0 + 0.1 + 3 + 1 + + 9 + + + Wheel Diameter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Wheel diameter, in mm.</p></body></html> + MCCONF_SI_WHEEL_DIAMETER + 2 + 1000 + 0 + 9999 + 0 + 0 + 1 + 0.083 + 1 + mm + 9 + + + Battery Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery Type</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LIION_3_0__4_2</span>,</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lithoium ion, voltage range: 3.0 to 4.2</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LIIRON_2_6__3_6</span>,</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lithoium iron phosphate, voltage range: 2.6 to 3.6</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LEAD_ACID</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lead Acic, voltage range: 2.1 to 2.36</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_TYPE + 0 + BATTERY_TYPE_LIION_3_0__4_2 + BATTERY_TYPE_LIIRON_2_6__3_6 + BATTERY_TYPE_LEAD_ACID + + + Battery Cells Series + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery cells in series.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_CELLS + 1 + 0 + 255 + 1 + 0 + 1 + 3 + + 1 + + + Battery Capacity + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery capacity in ampere hours.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_AH + 3 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 6 + 1 + Ah + 9 + + + Motor Brand + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor brand, e.g. Turnigy.</p></body></html> + + Unnamed + + + Motor Model + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor model, e.g. 6374 168KV.</p></body></html> + + Not Specified + + + Motor Weight + 1 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The weight of the motor in grams.</span></p></body></html> + + 2 + 1 + 0 + 500000 + 0 + 0 + 1 + 0 + 1 + g + 9 + + + Motor Poles + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The number of motor poles. This is always a multiple of two.</span></p></body></html> + + 1 + 0 + 100 + 2 + 0 + 2 + 14 + + 1 + + + Position Sensor + 4 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Ubuntu'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Does this motor come with some kind of position sensor?</p></body></html> + + 0 + No sensor + Hall Sensors + ABI Encoder + AS5047 Encoder + Other Sensor + + + Motor Description + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.</span></p></body></html> + + A motor description can be edited here. + + + Motor Loss Torque + 1 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">The motor loss torque in nm.</span></p></body></html> + + 2 + 1 + 0 + 99 + 0 + 0 + 0.01 + 0.03 + 1 + nm + 9 + + + Bearing Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Magnet Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Construction Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu';">Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Quality Description + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A text summary of the motor quality.</p></body></html> + + Some comments about the motor quality. Images can be added as well. + + + + pwm_mode + comm_mode + motor_type + sensor_mode + l_current_max + l_current_min + l_in_current_max + l_in_current_min + l_abs_current_max + l_min_erpm + l_max_erpm + l_erpm_start + l_max_erpm_fbrake + l_max_erpm_fbrake_cc + l_min_vin + l_max_vin + l_battery_cut_start + l_battery_cut_end + l_slow_abs_current + l_temp_fet_start + l_temp_fet_end + l_temp_motor_start + l_temp_motor_end + l_temp_accel_dec + l_min_duty + l_max_duty + l_watt_max + l_watt_min + l_current_max_scale + l_current_min_scale + l_duty_start + sl_min_erpm + sl_min_erpm_cycle_int_limit + sl_max_fullbreak_current_dir_change + sl_cycle_int_limit + sl_phase_advance_at_br + sl_cycle_int_rpm_br + sl_bemf_coupling_k + hall_table__0 + hall_table__1 + hall_table__2 + hall_table__3 + hall_table__4 + hall_table__5 + hall_table__6 + hall_table__7 + hall_sl_erpm + foc_current_kp + foc_current_ki + foc_f_sw + foc_dt_us + foc_encoder_inverted + foc_encoder_offset + foc_encoder_ratio + foc_encoder_sin_gain + foc_encoder_cos_gain + foc_encoder_sin_offset + foc_encoder_cos_offset + foc_encoder_sincos_filter_constant + foc_sensor_mode + foc_pll_kp + foc_pll_ki + foc_motor_l + foc_motor_r + foc_motor_flux_linkage + foc_observer_gain + foc_observer_gain_slow + foc_duty_dowmramp_kp + foc_duty_dowmramp_ki + foc_openloop_rpm + foc_sl_openloop_hyst + foc_sl_openloop_time + foc_sl_d_current_duty + foc_sl_d_current_factor + foc_hall_table__0 + foc_hall_table__1 + foc_hall_table__2 + foc_hall_table__3 + foc_hall_table__4 + foc_hall_table__5 + foc_hall_table__6 + foc_hall_table__7 + foc_sl_erpm + foc_sample_v0_v7 + foc_sample_high_current + foc_sat_comp + foc_temp_comp + foc_temp_comp_base_temp + foc_current_filter_const + foc_cc_decoupling + foc_observer_type + foc_hfi_voltage_start + foc_hfi_voltage_run + foc_hfi_voltage_max + foc_sl_erpm_hfi + foc_hfi_start_samples + foc_hfi_obs_ovr_sec + foc_hfi_samples + foc_hfi_disable_stopped_erpm + gpd_buffer_notify_left + gpd_buffer_interpol + gpd_current_filter_const + gpd_current_kp + gpd_current_ki + s_pid_kp + s_pid_ki + s_pid_kd + s_pid_kd_filter + s_pid_min_erpm + s_pid_allow_braking + p_pid_kp + p_pid_ki + p_pid_kd + p_pid_kd_filter + p_pid_ang_div + cc_startup_boost_duty + cc_min_current + cc_gain + cc_ramp_step_max + m_fault_stop_time_ms + m_duty_ramp_step + m_current_backoff_gain + m_encoder_counts + m_sensor_port_mode + m_invert_direction + m_drv8301_oc_mode + m_drv8301_oc_adj + m_bldc_f_sw_min + m_bldc_f_sw_max + m_dc_f_sw + m_ntc_motor_beta + m_out_aux_mode + m_motor_temp_sens_type + m_ptc_motor_coeff + si_motor_poles + si_gear_ratio + si_wheel_diameter + si_battery_type + si_battery_cells + si_battery_ah + + + + General + + General + + motor_type + m_invert_direction + m_sensor_port_mode + m_encoder_counts + + + + Current + + ::sep::Motor + l_current_max + l_current_min + l_abs_current_max + l_slow_abs_current + l_current_max_scale + l_current_min_scale + ::sep::Battery + l_in_current_max + l_in_current_min + ::sep::DRV8301 + m_drv8301_oc_mode + m_drv8301_oc_adj + + + + Voltage + + l_battery_cut_start + l_battery_cut_end + + + + RPM + + l_max_erpm + l_min_erpm + l_erpm_start + + + + Wattage + + l_watt_max + l_watt_min + + + + Temperature + + ::sep::General + l_temp_accel_dec + ::sep::MOSFET + l_temp_fet_start + l_temp_fet_end + ::sep::Motor + l_temp_motor_start + l_temp_motor_end + + + + Advanced + + l_min_vin + l_max_vin + l_min_duty + l_max_duty + cc_min_current + m_fault_stop_time_ms + m_out_aux_mode + m_motor_temp_sens_type + m_ntc_motor_beta + m_ptc_motor_coeff + l_duty_start + + + + + BLDC + + General + + sensor_mode + comm_mode + cc_startup_boost_duty + + + + Sensorless + + sl_cycle_int_limit + sl_min_erpm + sl_min_erpm_cycle_int_limit + sl_bemf_coupling_k + + + + Sensors + + hall_sl_erpm + hall_table__0 + hall_table__1 + hall_table__2 + hall_table__3 + hall_table__4 + hall_table__5 + hall_table__6 + hall_table__7 + + + + Advanced + + sl_phase_advance_at_br + sl_cycle_int_rpm_br + l_max_erpm_fbrake + pwm_mode + cc_gain + cc_ramp_step_max + m_duty_ramp_step + m_current_backoff_gain + m_bldc_f_sw_min + m_bldc_f_sw_max + + + + + DC + + General + + cc_gain + cc_ramp_step_max + m_duty_ramp_step + m_current_backoff_gain + m_dc_f_sw + + + + + FOC + + General + + foc_sensor_mode + foc_motor_r + foc_motor_l + foc_motor_flux_linkage + foc_current_kp + foc_current_ki + foc_observer_gain + + + + Sensorless + + foc_openloop_rpm + foc_sl_openloop_hyst + foc_sl_openloop_time + foc_sat_comp + foc_temp_comp + foc_temp_comp_base_temp + + + + Hall Sensors + + foc_sl_erpm + foc_hall_table__0 + foc_hall_table__1 + foc_hall_table__2 + foc_hall_table__3 + foc_hall_table__4 + foc_hall_table__5 + foc_hall_table__6 + foc_hall_table__7 + + + + Encoder + + foc_sl_erpm + foc_encoder_offset + foc_encoder_ratio + foc_encoder_inverted + foc_encoder_sin_gain + foc_encoder_sin_offset + foc_encoder_cos_gain + foc_encoder_cos_offset + foc_encoder_sincos_filter_constant + + + + HFI + + foc_hfi_samples + foc_hfi_voltage_start + foc_hfi_voltage_run + foc_hfi_voltage_max + foc_sl_erpm_hfi + foc_hfi_start_samples + foc_hfi_obs_ovr_sec + foc_hfi_disable_stopped_erpm + + + + Advanced + + foc_f_sw + foc_dt_us + foc_pll_kp + foc_pll_ki + foc_duty_dowmramp_kp + foc_duty_dowmramp_ki + foc_sl_d_current_duty + foc_sl_d_current_factor + foc_sample_v0_v7 + foc_sample_high_current + foc_observer_gain_slow + foc_current_filter_const + foc_cc_decoupling + foc_observer_type + + + + + GPD + + General + + pwm_mode + gpd_buffer_notify_left + gpd_buffer_interpol + gpd_current_filter_const + gpd_current_kp + gpd_current_ki + + + + + PID Controllers + + General + + ::sep::Speed Controller + s_pid_kp + s_pid_ki + s_pid_kd + s_pid_kd_filter + s_pid_min_erpm + s_pid_allow_braking + ::sep::Position Controller + p_pid_kp + p_pid_ki + p_pid_kd + p_pid_kd_filter + p_pid_ang_div + + + + + Additional Info + + Setup + + si_motor_poles + si_gear_ratio + si_wheel_diameter + si_battery_type + si_battery_cells + si_battery_ah + + + + General + + motor_brand + motor_model + motor_weight + motor_poles + motor_sensor_type + motor_loss_torque + + + + Quality + + motor_quality_bearings + motor_quality_magnets + motor_quality_construction + + + + + diff --git a/res_config.qrc b/res_config.qrc index 7c147d54c..74035873c 100755 --- a/res_config.qrc +++ b/res_config.qrc @@ -52,5 +52,8 @@ res/config/5.01/info.xml res/config/5.01/parameters_appconf.xml res/config/5.01/parameters_mcconf.xml + res/config/5.02/info.xml + res/config/5.02/parameters_appconf.xml + res/config/5.02/parameters_mcconf.xml