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vedderb / bldc

The VESC motor control firmware
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Current Control not supported with UAVCAN #234

Open RicardoM17 opened 3 years ago

RicardoM17 commented 3 years ago

We're running our drones with VESC, PX4 and UAVCAN. Currently with UAVCAN there is no way to support any type of control so duty cycle control is used by default. From constant talks with our VESCs manufacturer at TrampaBoards they suggested that we change the control mode to current control which is currently not supported for our system.

As such any info on where to start/what to change etc would be massively appreciated.

Conversely if duty cycle should work and anyone is available to help let me know and I can expand on our current issues.

Any thoughts @vedderb ?

vedderb commented 3 years ago

I have implemented this a while ago: https://github.com/vedderb/bldc/commit/55096f93cc9a997985bc6e36c993b572938350e6 Can you give it a try? It should be in the latest stable release.