Release fw-v0.5.1 · odriverobotics/ODrive

[0.5.1] - 2020-09-27

Added motor torque_constant: units of torque are now [Nm] instead of just motor current.
Motor thermistors support
Enable/disable of thermistor thermal limits according setting axis.<thermistor>.enabled.
Introduced odrive-interface.yaml as a root source for the ODrive's API. odrivetool connects much faster as a side effect.
Added torque_constant and torque_lim to motor config

input_pos, input_vel, pos_estimate_linear, pos_estimate_circular, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]
axis.motor.thermal_current_lim has been removed. Instead a new property is available axis.motor.effective_current_lim which contains the effective current limit including any thermal limits.
axis.motor.get_inverter_temp(), axis.motor.inverter_temp_limit_lower and axis.motor.inverter_temp_limit_upper have been moved to seperate fet thermistor object under axis.fet_thermistor. get_inverter_temp() function has been renamed to temp and is now a read-only property.
axis.config.counts_per_step is now axis.config.turns_per_step
Outputs of axis.sensorless_estimator are now in turns/s instead of electrical rad/s

Fixed bug of high current during lockin-ramp caused by motor::update() expecting a torque command instead of current
Fixed bug where commanded velocity was extremely high just after sensorless ramp when using input_mode INPUT_MODE_VEL_RAMP caused by vel_setpoint and axis.config.sensorless_ramp.vel being in different units

AC Induction Motor support.
- Tracking of rotor flux through rotor time constant
- Automatic d axis current for Maximum Torque Per Amp (MTPA)
ASCII "w" commands now execute write hooks.
Simplified control interface ("Input Filter" branch)
- New input variables: input_pos, input_vel, and input_current
- New setting input_mode to switch between different input behaviours
  - Passthrough
  - Velocity Ramp
  - 2nd Order Position Filter
  - Trapezoidal Trajectory Planner
- Removed set_xxx_setpoint() functions and made xxx_setpoint variables read-only
Preliminary support for Absolute Encoders
Preliminary support for endstops and homing
CAN Communication with CANSimple stack
Gain scheduling for anti-hunt when close to 0 position error
Velocity Limiting in Current Control mode according to vel_limit and vel_gain
Regen current limiting according to max_regen_current, in Amps
DC Bus hard current limiting according to dc_max_negative_current and dc_max_positive_current
Brake resistor logic now attempts to clamp voltage according to odrv.config.dc_bus_overvoltage_ramp_start and odrv.config.dc_bus_overvoltage_ramp_end
Unit Testing with Doctest has been started for select algorithms, see Firmware/Tests/test_runner.cpp
Added support for Flylint VSCode Extension for static code analysis
Using an STM32F405 .svd file allows CortexDebug to view registers during debugging
Added scripts for building via docker.
Added ability to change uart baudrate via fibre

Changed ratiometric motor.config.current_lim_tolerance to absolute motor.config.current_lim_margin
Moved controller.vel_ramp_enable to INPUT_MODE_VEL_RAMP.
Anticogging map is temporarily forced to 0.1 deg precision, but saves with the config
Some Encoder settings have been made read-only
Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
Now compiling with C++17
Fixed a firmware hang that could occur from unlikely but possible user input
Added JSON caching to Fibre. This drastically reduces the time odrivetool needs to connect to an ODrive (except for the first time or after firmware updates).
Fix IPython RuntimeWarning that would occur every time odrivetool was started.
Reboot on erase_configuration(). This avoids unexpected behavior of a subsequent save_configuration() call, since the configuration is only erased from NVM, not from RAM.
Change motor.get_inverter_temp() to use a property which was already being sampled at motor.inverter_temp
Fixed a numerical issue in the trajectory planner that could cause sudden jumps of the position setpoint