Is your feature request related to a problem? Please describe.
Angle sensor calibration for the magnetic sensor needs to be done manually. This involves cleanly rotating the motor shaft 360 degrees while recording the position measurement. Then, the data needs to be manually saved and analyzed.
Describe the solution you'd like
The ESC should have an action service that can be called to automatically initiate the calibration process. The FOC algorithm should be put into an open-loop control mode and ordered to rotate 360 degrees. Then, the magnetic sensor gains can be calculated from the data.
Describe alternatives you've considered
Due to computational requirements, this may need to be done on the host PC with the data streaming over the publisher topic.
Additional context
For the TMAG5273, follow the process described in Section 8.2.3 Angle Measurement of the datasheet
Is your feature request related to a problem? Please describe. Angle sensor calibration for the magnetic sensor needs to be done manually. This involves cleanly rotating the motor shaft 360 degrees while recording the position measurement. Then, the data needs to be manually saved and analyzed.
Describe the solution you'd like The ESC should have an action service that can be called to automatically initiate the calibration process. The FOC algorithm should be put into an open-loop control mode and ordered to rotate 360 degrees. Then, the magnetic sensor gains can be calculated from the data.
Describe alternatives you've considered Due to computational requirements, this may need to be done on the host PC with the data streaming over the publisher topic.
Additional context For the TMAG5273, follow the process described in Section 8.2.3 Angle Measurement of the datasheet