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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
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Sometimes the Go1 app BMS information is not visible. #39

Closed HBSIM0 closed 1 year ago

HBSIM0 commented 2 years ago

Sometimes Go1 App BMS information is not visible. At this time, I checked the SDK's GetRecv (HighState) and found that all the BmsState values are zero.

Screenshot_20220602-091018_Go 1

Screenshot_20220602-091029_Go 1

TrivasZhang commented 2 years ago

Did this bms information works at some times, or it always nothing?

HBSIM0 commented 2 years ago

It happens sometimes

TrivasZhang commented 2 years ago

If sport mode process (Legged_sport) is killed or quit, then the information is unavaliable, until this process rerun again.

HBSIM0 commented 2 years ago

How do I check if the sport mode process is alive?

The current symptoms include:

  1. In some cases, BMS information is not available.(At this time, the battery capacity is more than 50%.)
  2. The bms information is not available even after rebooting the robot and waiting for more than 3 minutes.
  3. BMS information can be used by fully charging the battery and turning on the robot again.
TrivasZhang commented 2 years ago

Next time if the BMS info missing, then you can do the low-level control to print the bms state. This will locate the problem.

HBSIM0 commented 2 years ago

I don't think I can solve the zero on the app.

Are you saying that there is a problem with bms being zero in the high mode?

TrivasZhang commented 2 years ago

I need find out this problem happens at high mode or low mode, so when informations gone next time, exit sport mode and use low mode to print. If low mode works then it's high mode problem.

MAVProxyUser commented 1 year ago

This is the same issue I mailed support about a month or so ago. I was told it was a known bug. I am on a MAX model, which I understand is basically a pro with a 4g modem, so I am unable to move to low-level as suggested above. My BMS output has been steady broken for months on end.

maggusscheppi commented 1 year ago

This issue seems to have a root cause in the electronic on the battery. You can read out values from battery via usb-c with 921kbit on the charging station. With a defect battery you receive no values.