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FrSkyRC / ETHOS-Feedback-Community

Feedback & suggestions are welcomed here for ETHOS by FrSky
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XACT Settings #1461

Open st157322 opened 2 years ago

st157322 commented 2 years ago

Hi There,

please add the Functionality to servo firmware and servo config Lua script to allow the advertised configurability of speed, torque, 360° travel, ... Those Functions are advertised in every of your manuals and on the product pages of your main resellers. https://www.frsky-rc.com/wp-content/uploads/Downloads/Manual/XACT%20HV/S5400H%20-Manual.pdf https://www.horusrc.com/en/frsky-xact-series-wing-hv-8-4v-capable-servos-hv5611-hv5612.html

"All the preset servo options of speed and torque can be configured directly on an ACCESS radio through the host device of F.Port 2.0 line, and the configurable servo steering as well as travel degree are additions now can be expected on this series."

Maybe considering also multi turn operation. For example as Sailboat-Winch.

Thanks

aviat40 commented 2 years ago

https://github.com/FrSkyRC/ETHOS-Feedback-Community/tree/main/lua/servo

st157322 commented 2 years ago

Thanks, but i already know that.

I asked for configurable Torque, Speed, 360° turn as advertised. And i think this needs a Firmware Update for the servos and than a new lua script. If this works already with the current firmware, please tell me the Registers and i will add this funktionallity to the Lua-Script by myself.

st157322 commented 2 years ago

According to controll theory, this should work by using a controller cascade. So you have one controler for motorcurrent. Its Feedback is the Motorcurrent (with sign). Its Input should be the Output value from a velocity controller. This output should be limited to the Value the User Choose as Torque. Its Feedback is the discrete derivative from the encoder Measurements. The Input Value from this velocity controller should be the Output Value from an angle controller. This Output is limited (saturation) to the Speed Value the user selected. The Angle Controller is using the Pwm/Bus Value as input and the encoder as feedback, like the current implementation does. As Controllers you can just use simple PID Controllers with Anti-Windup or any other fancy controll structure.

If needed i can provide you a whole lot of more information on that topic. For examle Matlab Simulink diagrams or if needed some Pseudocode.

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