ODrive Versions Save

Fixed

• Index search would trigger in the wrong place.

Added

• A release target for ODrive v3.6
• Communication watchdog feature.
• encoder.set_linear_count(count) function.
• Configurable encoder offset calibration distance and speed:calib_scan_distance and calib_scan_omega
• Encoder offset calibration debug variable calib_scan_response
• Lock-in drive feature
• Script to enable using a hall signal as index edge.

Changed

• Encoder index search now based on the new lock-in drive feature

Fixed

• Encoder index interrupts now disabled when not searching

Added

• dump_errors() utility function in odrivetool to dump, decode and optionally clear errors.
• f command to ascii protocol to get encoder position and velocity feedback.
• q command to ascii protocol. It is like the old p command, but velocity and current mean limits, not feed-forward.
• ss, se, sr commands to ascii protocol, for save config, erase config and reboot.
• move_incremental function for relative trajectory moves.
• encoder.config.ignore_illegal_hall_state option.
• encoder.config.enable_phase_interpolation option. Setting to false may reduce jerky pulsations at low speed when using hall sensor feedback.
• Analog input. Used the same way as the PWM input mappings.
• Voltage limit soft clamping instead of ERROR_MODULATION_MAGNITUDE in gimbal motor closed loop.
• Thermal current limit with linear derating.

Fixed

• Added required 1.5 cycle phase shift between ADC and PWM, lack thereof caused unstable current controller at high eRPM.

[0.4.7] - 2018-11-28

Added

• Overspeed fault
• Current sense saturation fault.
• Supress startup transients by sampling encoder estimate into position setpoint when entering closed loop control.
• Make step dir gpio pins configurable.
• Configuration variable encoder.config.zero_count_on_find_idx, true by default. Set to false to leave the initial encoder count to be where the axis was at boot.
• Circular position setpoint mode: position setpoints wrapped [0, cpr). Useful for infinite incremental position control.
• Velocity setpoint ramping. Use velocity control mode, and set controller.vel_ramp_enable to true. This will ramp controller.vel_setpoint towards controller.vel_ramp_target at a ramp rate of controller.config.vel_ramp_rate.

Changed

• Increased switching frequency from around 8kHz to 24kHz. Control loops still run at 8kHz.
• Renamed axis.enable_step_dir to axis.step_dir_active
• New process for working with STM32CubeMX.

Fixed

• Would get ERROR_CONTROL_DEADLINE_MISSED along with every ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.
• ODrive tool can now run interactive nested scripts with "%run -i script.py"

[0.4.6] - 2018-10-07

Fixed

• Broken printing of floats on ascii protocol

[0.4.5] - 2018-10-06

Added

• Trapezoidal Trajectory Planner
• Hook to execute protocol property written callback
• -Wdouble-promotion warning to compilation

Changed

• Make python tools compatible with python 2.7 (so it can be used with ROS)
  • Threading API constructor can't take the daemon parameter, so all thread creation had to be expanded out.
  • TimeoutError isn't defined, but it makes for more readable code, so I defined it as an OSError subclass.
  • ModuleNotFoundError is replaced by the older ImportError.
  • Print function imported from future
• Using new hooks to calculate:
  • motor.config.current_control_bandwidth
    • This deprecates motor.set_current_control_bandwidth()
  • encoder.config.bandwidth
• Default value for motor.resistance_calib_max_voltage changed to 2.0

Fixed

• An issue where the axis state machine would jump in and out of idle when there is an error
• There is a bug in the arm fast math library, which gives spikes in the output of arm_cos_f32 for input values close to -pi/2. We fixed the bug locally, and hence are using "our_arm_cos_f32".

[0.4.4] - 2018-09-18

Fixed

• Serious reliability issue with USB communication where packets on Native and the CDC interface would collide with each other.

[0.4.3] - 2018-08-30

Added

• Encoder position count "homed" to zero when index is found.

Changed

• We now enforce encoder offset calibration must happen after index is found (if using index)
• Renaming of the velocity estimate pll_vel -> vel_estimate.
• Hardcoded maximum inductance now 2500 uH.

Fixed

• Once you got an axis error ERROR_INVALID_STATE you could never clear it
• Char to int conversion to read motornum on arduino example

[0.4.2] - 2018-07-04

Added

• Hall sensor feedback
• Configurable RC PWM input
• Ability to read axis FET temperature
• Config settings for:
  • motor.config.requested_current_range
  • motor.config.current_control_bandwidth and motor.set_current_control_bandwidth. Latter required to invoke gain recalculation.
  • encoder.config.bandwidth

[0.4.1] - 2018-07-01

Fixed

• Encoder errors would show up as Axis error ERROR_MOTOR_FAILED instead of ERROR_ENCODER_FAILED.
• Various pip install dependencies
• Ability for python tools threads to quit properly
• dfuse error prints now python3 compatible