20s Little FOCers on stooge SRB v5#1 comparing to Castle based SRB v5#3

How-Tos & Esk8 mechanics Esk8 Mechanics
,
#1

Alright, @DEEIF has been kind enough to let me mess around with his board to try and get the most out of it.

setup

67C3EB60-99DC-46A5-8D51-DED26A48D38C_1_105_c
67C3EB60-99DC-46A5-8D51-DED26A48D38C_1_105_c769×1024 196 KB

  • SRB v5 #1
  • 21/78 18/78 gearing
  • pair of Lil focer hw3.0 connected via can
  • SKP 6485 151kv 173kv
  • 20s ( 4s 10Ah power hobby Lipos in series. )
  • 150mm wheels
  • so 51.4mph/82.8kph gearing (no load)
  • OSRR albert “racing remote” GT2B remote to match v5#3 castle setup.
  • freesk8 robogotchi for telemetry.
  • firmware 5.3
  • 0.05/0.11 ramping times. 15% deadband
  • running FOC mode
  • fault stop time 75ms

goals

In the end i’m trying to see if it can compare at all to the power and feel of my board which is SRB v5 #3 on 8s castle XLX2 setup now with a pair of Hobbywing 70125. on which i’ve done 15kw pulls. AFAICT castle is BLDC commutation, no motor amp limiting,

wednesday

I took it out last wed to Intro2Speed slowly ramping up battery and motor amp settings, till i got to 100/150 per side.

My main test was coming out of a corner (5-10mph?) and trying to full pin onto the straight (peaking at 30mph ) I noticed that it didn’t have quite as much pull (lack of punch) at first till it got to higher RPMs. @redbeard torgo also rode it and made a similar observation. ( said all vescs are like this )

Initially I thought this might be maxing out the motor amps. and it looked from logs like i was very close to 150/side.

So I upped motor amps to 200/side.

I then threw a ABS OVERCURRENT FAULT, managed not to die. discovered slow ABS max was not enabled, and that ABS max was set to 225/side. I enabled slow ABS and set it to 350 a side. ( is that ok? ?? )

I also lowered fault stop time from 100ms to 75ms.

Then I then got some other cutout, for which i didn’t get a fault for. but I realized later i didn’t properly check both vescs.

and my confidence was shaken. getting a cutout full pull is sketch. makes me wish I had a dyno of some kind to really put this through it’s paces without risking my body.

but I did pull more than 150motor amps.

D011A4C1-EC6D-4BEA-A16A-BE331A84EDB8_1_105_c
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from the numbers in robo logs I think i pulled 10kw at one point, so not bad. but not enough.

E5F46DD9-9C6E-4C6E-8695-977A2E56FC91_1_102_o
E5F46DD9-9C6E-4C6E-8695-977A2E56FC91_1_102_o1125×2436 312 KB

sunday

I rode it again at Night Session Intro2Speed on sunday, with settings back down to 100/150 i don’t think we pulled it as hard. @MarioChacon and I both rode it, i haven’t looked at the logs to see what kinda power we did yet. but we didn’t have any faults… thank god.

no load flutter

Another observation is that under no load i get a strange fluttering around 85% duty cycle. I had assumed this was a no load problem. but i’m concerned it might be a settings problem.

need to post video of this.

open questions

  • How high should be the limit for motor amps?
  • How high should ABS max be set?
  • what other vesc settings should i be double checking to push things at this level?
  • what is with the 85% dutycycle no load flutter.
  • will PID tuning be needed to solve the “lack of punch” at low end issue.
  • how many people are going to push the expo setting idea? :smiley: :stuck_out_tongue:

thanks

Thanks to folks who made such experimentation possible.

13 Likes
DemonGeese | Semendeed | 21s4p | 2x D100s | 4wd
#2

How long are your phase wires? Do you have an approx erpm where the issues arise?

1 Like
#3

Which FW version? Have you tried upping the switching freq to 30kHz? Can you export your motor config file to help us see exactly what settings you are using?

5 Likes
DemonGeese | Semendeed | 21s4p | 2x D100s | 4wd
#4

  1. Positive ramping and negative ramping times are kinda high by default. 0.4s and 0.2s I think. You can reduce both to 0.1s or 0.2s.

  2. Reduce remote deadband. I set the puck to 4%

  3. Play with increasing throttle expo in 10% increments.

2 Likes
#5

~ 22in/56cm probably longer than needed.

i will look into logs see if I can extract this for the mystery cutout. and separately try to get the no load flutter point.

#6

I would start with increasing Switching Hz to 30k, you will have to rerun motor detection and also what @Shadowfax said those changes are for sure going to help with the punch.

4 Likes
#7

5.3

Not yet. is that zero vector frequency? that’s 20hz right now. any link to reference on this type of change so i can understand it?

Yessir. working on it.

2 Likes
#8

i’m running 0.05 and 0.11 still with a 15% deadband tho. ( EDIT gave wrong side settings at first. )

I will play with throttle expo at some point.

however all of these settings are feel of throttle settings, and not actual raw punch of the board, so I"m dubious because you can also just learn the throttle, and my test involves punching the throttle to near full pin.

5 Likes
#9

I got this when I switched from 5.2 to 5.3fw and it sketched me out too much to try on the road. Haven’t tried 6.0 out yet to see if it’s fixed but reassuring to see someone else experience it.

1 Like
#10

Yesh 5.3 had this flutter, updating to 6.02 should fix that, but if i remmeber correctly the flutter was only present in unloaded operation

Increasing your switching HZ helps your controller track your motor better, at least thats like the simple explanation for it

4 Likes
#11

EDIT, i initially grabbed the wrong configs. updated now.

Dash 01 primary motor config

<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
    <pwm_mode>1</pwm_mode>
    <comm_mode>0</comm_mode>
    <motor_type>2</motor_type>
    <sensor_mode>0</sensor_mode>
    <l_current_max>150</l_current_max>
    <l_current_min>-60</l_current_min>
    <l_in_current_max>100</l_in_current_max>
    <l_in_current_min>-60</l_in_current_min>
    <l_abs_current_max>350</l_abs_current_max>
    <l_min_erpm>-100000</l_min_erpm>
    <l_max_erpm>100000</l_max_erpm>
    <l_erpm_start>0.8</l_erpm_start>
    <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
    <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
    <l_min_vin>18</l_min_vin>
    <l_max_vin>95</l_max_vin>
    <l_battery_cut_start>68</l_battery_cut_start>
    <l_battery_cut_end>64</l_battery_cut_end>
    <l_slow_abs_current>1</l_slow_abs_current>
    <l_temp_fet_start>70</l_temp_fet_start>
    <l_temp_fet_end>80</l_temp_fet_end>
    <l_temp_motor_start>85</l_temp_motor_start>
    <l_temp_motor_end>100</l_temp_motor_end>
    <l_temp_accel_dec>0.15</l_temp_accel_dec>
    <l_min_duty>0.005</l_min_duty>
    <l_max_duty>0.95</l_max_duty>
    <l_watt_max>1.5e+06</l_watt_max>
    <l_watt_min>-1.5e+06</l_watt_min>
    <l_current_max_scale>1</l_current_max_scale>
    <l_current_min_scale>1</l_current_min_scale>
    <l_duty_start>0.85</l_duty_start>
    <sl_min_erpm>150</sl_min_erpm>
    <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
    <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
    <sl_cycle_int_limit>62</sl_cycle_int_limit>
    <sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
    <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
    <sl_bemf_coupling_k>600</sl_bemf_coupling_k>
    <hall_table__0>-1</hall_table__0>
    <hall_table__1>1</hall_table__1>
    <hall_table__2>3</hall_table__2>
    <hall_table__3>2</hall_table__3>
    <hall_table__4>5</hall_table__4>
    <hall_table__5>6</hall_table__5>
    <hall_table__6>4</hall_table__6>
    <hall_table__7>-1</hall_table__7>
    <hall_sl_erpm>2000</hall_sl_erpm>
    <foc_current_kp>0.0149787</foc_current_kp>
    <foc_current_ki>23.147</foc_current_ki>
    <foc_f_zv>20000</foc_f_zv>
    <foc_dt_us>0.12</foc_dt_us>
    <foc_encoder_inverted>0</foc_encoder_inverted>
    <foc_encoder_offset>180</foc_encoder_offset>
    <foc_encoder_ratio>7</foc_encoder_ratio>
    <foc_encoder_sin_gain>1</foc_encoder_sin_gain>
    <foc_encoder_cos_gain>1</foc_encoder_cos_gain>
    <foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
    <foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
    <foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
    <foc_sensor_mode>2</foc_sensor_mode>
    <foc_pll_kp>2000</foc_pll_kp>
    <foc_pll_ki>30000</foc_pll_ki>
    <foc_motor_l>1.49787e-05</foc_motor_l>
    <foc_motor_ld_lq_diff>6.53286e-06</foc_motor_ld_lq_diff>
    <foc_motor_r>0.023147</foc_motor_r>
    <foc_motor_flux_linkage>0.00476161</foc_motor_flux_linkage>
    <foc_observer_gain>4.41054e+07</foc_observer_gain>
    <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
    <foc_observer_offset>-1</foc_observer_offset>
    <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
    <foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
    <foc_openloop_rpm>700</foc_openloop_rpm>
    <foc_openloop_rpm_low>0</foc_openloop_rpm_low>
    <foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>
    <foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>
    <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
    <foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
    <foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
    <foc_sl_openloop_time>0.05</foc_sl_openloop_time>
    <foc_hall_table__0>255</foc_hall_table__0>
    <foc_hall_table__1>34</foc_hall_table__1>
    <foc_hall_table__2>98</foc_hall_table__2>
    <foc_hall_table__3>67</foc_hall_table__3>
    <foc_hall_table__4>171</foc_hall_table__4>
    <foc_hall_table__5>2</foc_hall_table__5>
    <foc_hall_table__6>135</foc_hall_table__6>
    <foc_hall_table__7>255</foc_hall_table__7>
    <foc_hall_interp_erpm>500</foc_hall_interp_erpm>
    <foc_sl_erpm>4000</foc_sl_erpm>
    <foc_sample_v0_v7>0</foc_sample_v0_v7>
    <foc_sample_high_current>0</foc_sample_high_current>
    <foc_sat_comp>0</foc_sat_comp>
    <foc_temp_comp>0</foc_temp_comp>
    <foc_temp_comp_base_temp>22.59</foc_temp_comp_base_temp>
    <foc_current_filter_const>0.1</foc_current_filter_const>
    <foc_cc_decoupling>0</foc_cc_decoupling>
    <foc_observer_type>0</foc_observer_type>
    <foc_hfi_voltage_start>20</foc_hfi_voltage_start>
    <foc_hfi_voltage_run>4</foc_hfi_voltage_run>
    <foc_hfi_voltage_max>10</foc_hfi_voltage_max>
    <foc_sl_erpm_hfi>2000</foc_sl_erpm_hfi>
    <foc_hfi_start_samples>15</foc_hfi_start_samples>
    <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
    <foc_hfi_samples>1</foc_hfi_samples>
    <foc_offsets_cal_on_boot>1</foc_offsets_cal_on_boot>
    <foc_offsets_current__0>2031.82</foc_offsets_current__0>
    <foc_offsets_current__1>2032.75</foc_offsets_current__1>
    <foc_offsets_current__2>2030.92</foc_offsets_current__2>
    <foc_offsets_voltage__0>-0.0023</foc_offsets_voltage__0>
    <foc_offsets_voltage__1>0.0005</foc_offsets_voltage__1>
    <foc_offsets_voltage__2>0.0018</foc_offsets_voltage__2>
    <foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
    <foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
    <foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
    <foc_phase_filter_enable>1</foc_phase_filter_enable>
    <foc_phase_filter_max_erpm>4000</foc_phase_filter_max_erpm>
    <foc_mtpa_mode>0</foc_mtpa_mode>
    <foc_fw_current_max>0</foc_fw_current_max>
    <foc_fw_duty_start>0.9</foc_fw_duty_start>
    <foc_fw_q_current_factor>0.02</foc_fw_q_current_factor>
    <foc_fw_ramp_time>0.2</foc_fw_ramp_time>
    <gpd_buffer_notify_left>200</gpd_buffer_notify_left>
    <gpd_buffer_interpol>0</gpd_buffer_interpol>
    <gpd_current_filter_const>0.1</gpd_current_filter_const>
    <gpd_current_kp>0.03</gpd_current_kp>
    <gpd_current_ki>50</gpd_current_ki>
    <sp_pid_loop_rate>5</sp_pid_loop_rate>
    <s_pid_kp>0.004</s_pid_kp>
    <s_pid_ki>0.004</s_pid_ki>
    <s_pid_kd>0.0001</s_pid_kd>
    <s_pid_kd_filter>0.2</s_pid_kd_filter>
    <s_pid_min_erpm>900</s_pid_min_erpm>
    <s_pid_allow_braking>1</s_pid_allow_braking>
    <s_pid_ramp_erpms_s>25000</s_pid_ramp_erpms_s>
    <p_pid_kp>0.025</p_pid_kp>
    <p_pid_ki>0</p_pid_ki>
    <p_pid_kd>0</p_pid_kd>
    <p_pid_offset>0</p_pid_offset>
    <p_pid_kd_proc>0.00035</p_pid_kd_proc>
    <p_pid_kd_filter>0.2</p_pid_kd_filter>
    <p_pid_ang_div>1</p_pid_ang_div>
    <p_pid_gain_dec_angle>0</p_pid_gain_dec_angle>
    <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
    <cc_min_current>0.05</cc_min_current>
    <cc_gain>0.0046</cc_gain>
    <cc_ramp_step_max>0.04</cc_ramp_step_max>
    <m_fault_stop_time_ms>75</m_fault_stop_time_ms>
    <m_duty_ramp_step>0.02</m_duty_ramp_step>
    <m_current_backoff_gain>0.5</m_current_backoff_gain>
    <m_encoder_counts>8192</m_encoder_counts>
    <m_sensor_port_mode>0</m_sensor_port_mode>
    <m_invert_direction>1</m_invert_direction>
    <m_drv8301_oc_mode>0</m_drv8301_oc_mode>
    <m_drv8301_oc_adj>25</m_drv8301_oc_adj>
    <m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
    <m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
    <m_dc_f_sw>25000</m_dc_f_sw>
    <m_ntc_motor_beta>3380</m_ntc_motor_beta>
    <m_out_aux_mode>0</m_out_aux_mode>
    <m_motor_temp_sens_type>0</m_motor_temp_sens_type>
    <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
    <m_hall_extra_samples>1</m_hall_extra_samples>
    <si_motor_poles>14</si_motor_poles>
    <si_gear_ratio>3.714</si_gear_ratio>
    <si_wheel_diameter>0.15</si_wheel_diameter>
    <si_battery_type>0</si_battery_type>
    <si_battery_cells>20</si_battery_cells>
    <si_battery_ah>10</si_battery_ah>
    <si_motor_nl_current>1</si_motor_nl_current>
    <motor_brand>Unnamed</motor_brand>
    <motor_model>Not Specified</motor_model>
    <motor_weight>0</motor_weight>
    <motor_sensor_type>0</motor_sensor_type>
    <motor_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A motor description can be edited here.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_description>
    <motor_quality_bearings>0</motor_quality_bearings>
    <motor_quality_magnets>0</motor_quality_magnets>
    <motor_quality_construction>0</motor_quality_construction>
    <motor_quality_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
    <bms.type>1</bms.type>
    <bms.t_limit_start>45</bms.t_limit_start>
    <bms.t_limit_end>65</bms.t_limit_end>
    <bms.soc_limit_start>0.05</bms.soc_limit_start>
    <bms.soc_limit_end>0</bms.soc_limit_end>
    <bms.fwd_can_mode>0</bms.fwd_can_mode>
</MCConfiguration>

Dash 01 secondary motor config

<?xml version="1.0" encoding="UTF-8"?>
<MCConfiguration>
    <pwm_mode>1</pwm_mode>
    <comm_mode>0</comm_mode>
    <motor_type>2</motor_type>
    <sensor_mode>0</sensor_mode>
    <l_current_max>150</l_current_max>
    <l_current_min>-60</l_current_min>
    <l_in_current_max>100</l_in_current_max>
    <l_in_current_min>-60</l_in_current_min>
    <l_abs_current_max>350</l_abs_current_max>
    <l_min_erpm>-100000</l_min_erpm>
    <l_max_erpm>100000</l_max_erpm>
    <l_erpm_start>0.8</l_erpm_start>
    <l_max_erpm_fbrake>300</l_max_erpm_fbrake>
    <l_max_erpm_fbrake_cc>1500</l_max_erpm_fbrake_cc>
    <l_min_vin>18</l_min_vin>
    <l_max_vin>95</l_max_vin>
    <l_battery_cut_start>68</l_battery_cut_start>
    <l_battery_cut_end>64</l_battery_cut_end>
    <l_slow_abs_current>1</l_slow_abs_current>
    <l_temp_fet_start>70</l_temp_fet_start>
    <l_temp_fet_end>80</l_temp_fet_end>
    <l_temp_motor_start>85</l_temp_motor_start>
    <l_temp_motor_end>100</l_temp_motor_end>
    <l_temp_accel_dec>0.15</l_temp_accel_dec>
    <l_min_duty>0.005</l_min_duty>
    <l_max_duty>0.95</l_max_duty>
    <l_watt_max>1.5e+06</l_watt_max>
    <l_watt_min>-1.5e+06</l_watt_min>
    <l_current_max_scale>1</l_current_max_scale>
    <l_current_min_scale>1</l_current_min_scale>
    <l_duty_start>0.85</l_duty_start>
    <sl_min_erpm>150</sl_min_erpm>
    <sl_min_erpm_cycle_int_limit>1100</sl_min_erpm_cycle_int_limit>
    <sl_max_fullbreak_current_dir_change>10</sl_max_fullbreak_current_dir_change>
    <sl_cycle_int_limit>62</sl_cycle_int_limit>
    <sl_phase_advance_at_br>0.8</sl_phase_advance_at_br>
    <sl_cycle_int_rpm_br>80000</sl_cycle_int_rpm_br>
    <sl_bemf_coupling_k>600</sl_bemf_coupling_k>
    <hall_table__0>-1</hall_table__0>
    <hall_table__1>1</hall_table__1>
    <hall_table__2>3</hall_table__2>
    <hall_table__3>2</hall_table__3>
    <hall_table__4>5</hall_table__4>
    <hall_table__5>6</hall_table__5>
    <hall_table__6>4</hall_table__6>
    <hall_table__7>-1</hall_table__7>
    <hall_sl_erpm>2000</hall_sl_erpm>
    <foc_current_kp>0.0153</foc_current_kp>
    <foc_current_ki>22.87</foc_current_ki>
    <foc_f_zv>20000</foc_f_zv>
    <foc_dt_us>0.12</foc_dt_us>
    <foc_encoder_inverted>0</foc_encoder_inverted>
    <foc_encoder_offset>180</foc_encoder_offset>
    <foc_encoder_ratio>7</foc_encoder_ratio>
    <foc_encoder_sin_gain>1</foc_encoder_sin_gain>
    <foc_encoder_cos_gain>1</foc_encoder_cos_gain>
    <foc_encoder_sin_offset>1.65</foc_encoder_sin_offset>
    <foc_encoder_cos_offset>1.65</foc_encoder_cos_offset>
    <foc_encoder_sincos_filter_constant>0.5</foc_encoder_sincos_filter_constant>
    <foc_sensor_mode>2</foc_sensor_mode>
    <foc_pll_kp>2000</foc_pll_kp>
    <foc_pll_ki>30000</foc_pll_ki>
    <foc_motor_l>1.529e-05</foc_motor_l>
    <foc_motor_ld_lq_diff>6.1e-06</foc_motor_ld_lq_diff>
    <foc_motor_r>0.0229</foc_motor_r>
    <foc_motor_flux_linkage>0.004812</foc_motor_flux_linkage>
    <foc_observer_gain>4.319e+07</foc_observer_gain>
    <foc_observer_gain_slow>0.05</foc_observer_gain_slow>
    <foc_observer_offset>-1</foc_observer_offset>
    <foc_duty_dowmramp_kp>10</foc_duty_dowmramp_kp>
    <foc_duty_dowmramp_ki>200</foc_duty_dowmramp_ki>
    <foc_openloop_rpm>700</foc_openloop_rpm>
    <foc_openloop_rpm_low>0</foc_openloop_rpm_low>
    <foc_d_gain_scale_start>0.9</foc_d_gain_scale_start>
    <foc_d_gain_scale_max_mod>0.2</foc_d_gain_scale_max_mod>
    <foc_sl_openloop_hyst>0.1</foc_sl_openloop_hyst>
    <foc_sl_openloop_time_lock>0</foc_sl_openloop_time_lock>
    <foc_sl_openloop_time_ramp>0.1</foc_sl_openloop_time_ramp>
    <foc_sl_openloop_time>0.05</foc_sl_openloop_time>
    <foc_hall_table__0>255</foc_hall_table__0>
    <foc_hall_table__1>169</foc_hall_table__1>
    <foc_hall_table__2>101</foc_hall_table__2>
    <foc_hall_table__3>131</foc_hall_table__3>
    <foc_hall_table__4>32</foc_hall_table__4>
    <foc_hall_table__5>6</foc_hall_table__5>
    <foc_hall_table__6>65</foc_hall_table__6>
    <foc_hall_table__7>255</foc_hall_table__7>
    <foc_hall_interp_erpm>500</foc_hall_interp_erpm>
    <foc_sl_erpm>4000</foc_sl_erpm>
    <foc_sample_v0_v7>0</foc_sample_v0_v7>
    <foc_sample_high_current>0</foc_sample_high_current>
    <foc_sat_comp>0</foc_sat_comp>
    <foc_temp_comp>0</foc_temp_comp>
    <foc_temp_comp_base_temp>22.9</foc_temp_comp_base_temp>
    <foc_current_filter_const>0.1</foc_current_filter_const>
    <foc_cc_decoupling>0</foc_cc_decoupling>
    <foc_observer_type>0</foc_observer_type>
    <foc_hfi_voltage_start>20</foc_hfi_voltage_start>
    <foc_hfi_voltage_run>4</foc_hfi_voltage_run>
    <foc_hfi_voltage_max>10</foc_hfi_voltage_max>
    <foc_sl_erpm_hfi>2000</foc_sl_erpm_hfi>
    <foc_hfi_start_samples>15</foc_hfi_start_samples>
    <foc_hfi_obs_ovr_sec>0.001</foc_hfi_obs_ovr_sec>
    <foc_hfi_samples>1</foc_hfi_samples>
    <foc_offsets_cal_on_boot>1</foc_offsets_cal_on_boot>
    <foc_offsets_current__0>2038.7</foc_offsets_current__0>
    <foc_offsets_current__1>2037.97</foc_offsets_current__1>
    <foc_offsets_current__2>2038.49</foc_offsets_current__2>
    <foc_offsets_voltage__0>-0.0035</foc_offsets_voltage__0>
    <foc_offsets_voltage__1>0</foc_offsets_voltage__1>
    <foc_offsets_voltage__2>0.0035</foc_offsets_voltage__2>
    <foc_offsets_voltage_undriven__0>0</foc_offsets_voltage_undriven__0>
    <foc_offsets_voltage_undriven__1>0</foc_offsets_voltage_undriven__1>
    <foc_offsets_voltage_undriven__2>0</foc_offsets_voltage_undriven__2>
    <foc_phase_filter_enable>1</foc_phase_filter_enable>
    <foc_phase_filter_max_erpm>4000</foc_phase_filter_max_erpm>
    <foc_mtpa_mode>0</foc_mtpa_mode>
    <foc_fw_current_max>0</foc_fw_current_max>
    <foc_fw_duty_start>0.9</foc_fw_duty_start>
    <foc_fw_q_current_factor>0.02</foc_fw_q_current_factor>
    <foc_fw_ramp_time>0.2</foc_fw_ramp_time>
    <gpd_buffer_notify_left>200</gpd_buffer_notify_left>
    <gpd_buffer_interpol>0</gpd_buffer_interpol>
    <gpd_current_filter_const>0.1</gpd_current_filter_const>
    <gpd_current_kp>0.03</gpd_current_kp>
    <gpd_current_ki>50</gpd_current_ki>
    <sp_pid_loop_rate>5</sp_pid_loop_rate>
    <s_pid_kp>0.004</s_pid_kp>
    <s_pid_ki>0.004</s_pid_ki>
    <s_pid_kd>0.0001</s_pid_kd>
    <s_pid_kd_filter>0.2</s_pid_kd_filter>
    <s_pid_min_erpm>900</s_pid_min_erpm>
    <s_pid_allow_braking>1</s_pid_allow_braking>
    <s_pid_ramp_erpms_s>25000</s_pid_ramp_erpms_s>
    <p_pid_kp>0.025</p_pid_kp>
    <p_pid_ki>0</p_pid_ki>
    <p_pid_kd>0</p_pid_kd>
    <p_pid_offset>0</p_pid_offset>
    <p_pid_kd_proc>0.00035</p_pid_kd_proc>
    <p_pid_kd_filter>0.2</p_pid_kd_filter>
    <p_pid_ang_div>1</p_pid_ang_div>
    <p_pid_gain_dec_angle>0</p_pid_gain_dec_angle>
    <cc_startup_boost_duty>0.01</cc_startup_boost_duty>
    <cc_min_current>0.05</cc_min_current>
    <cc_gain>0.0046</cc_gain>
    <cc_ramp_step_max>0.04</cc_ramp_step_max>
    <m_fault_stop_time_ms>75</m_fault_stop_time_ms>
    <m_duty_ramp_step>0.02</m_duty_ramp_step>
    <m_current_backoff_gain>0.5</m_current_backoff_gain>
    <m_encoder_counts>8192</m_encoder_counts>
    <m_sensor_port_mode>0</m_sensor_port_mode>
    <m_invert_direction>1</m_invert_direction>
    <m_drv8301_oc_mode>0</m_drv8301_oc_mode>
    <m_drv8301_oc_adj>25</m_drv8301_oc_adj>
    <m_bldc_f_sw_min>3000</m_bldc_f_sw_min>
    <m_bldc_f_sw_max>35000</m_bldc_f_sw_max>
    <m_dc_f_sw>25000</m_dc_f_sw>
    <m_ntc_motor_beta>3380</m_ntc_motor_beta>
    <m_out_aux_mode>0</m_out_aux_mode>
    <m_motor_temp_sens_type>0</m_motor_temp_sens_type>
    <m_ptc_motor_coeff>0.61</m_ptc_motor_coeff>
    <m_hall_extra_samples>1</m_hall_extra_samples>
    <si_motor_poles>14</si_motor_poles>
    <si_gear_ratio>3.714</si_gear_ratio>
    <si_wheel_diameter>0.15</si_wheel_diameter>
    <si_battery_type>0</si_battery_type>
    <si_battery_cells>20</si_battery_cells>
    <si_battery_ah>10</si_battery_ah>
    <si_motor_nl_current>1</si_motor_nl_current>
    <motor_brand>Unnamed</motor_brand>
    <motor_model>Not Specified</motor_model>
    <motor_weight>0</motor_weight>
    <motor_sensor_type>0</motor_sensor_type>
    <motor_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A motor description can be edited here.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_description>
    <motor_quality_bearings>0</motor_quality_bearings>
    <motor_quality_magnets>0</motor_quality_magnets>
    <motor_quality_construction>0</motor_quality_construction>
    <motor_quality_description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; font-size:12pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Some comments about the motor quality. Images can be added as well.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</motor_quality_description>
    <bms.type>1</bms.type>
    <bms.t_limit_start>45</bms.t_limit_start>
    <bms.t_limit_end>65</bms.t_limit_end>
    <bms.soc_limit_start>0.05</bms.soc_limit_start>
    <bms.soc_limit_end>0</bms.soc_limit_end>
    <bms.fwd_can_mode>0</bms.fwd_can_mode>
</MCConfiguration>
1 Like
#12

Dash 01 primary app config

<?xml version="1.0" encoding="UTF-8"?>
<APPConfiguration>
    <ConfigVersion>2</ConfigVersion>
    <controller_id>25</controller_id>
    <timeout_msec>1000</timeout_msec>
    <timeout_brake_current>0</timeout_brake_current>
    <send_can_status>4</send_can_status>
    <send_can_status_rate_hz>50</send_can_status_rate_hz>
    <can_baud_rate>2</can_baud_rate>
    <pairing_done>0</pairing_done>
    <permanent_uart_enabled>1</permanent_uart_enabled>
    <shutdown_mode>7</shutdown_mode>
    <can_mode>0</can_mode>
    <uavcan_esc_index>0</uavcan_esc_index>
    <uavcan_raw_mode>0</uavcan_raw_mode>
    <uavcan_raw_rpm_max>208</uavcan_raw_rpm_max>
    <servo_out_enable>1</servo_out_enable>
    <kill_sw_mode>0</kill_sw_mode>
    <app_to_use>3</app_to_use>
    <app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
    <app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
    <app_ppm_conf.hyst>0.15</app_ppm_conf.hyst>
    <app_ppm_conf.pulse_start>1</app_ppm_conf.pulse_start>
    <app_ppm_conf.pulse_end>2</app_ppm_conf.pulse_end>
    <app_ppm_conf.pulse_center>1.5</app_ppm_conf.pulse_center>
    <app_ppm_conf.median_filter>1</app_ppm_conf.median_filter>
    <app_ppm_conf.safe_start>1</app_ppm_conf.safe_start>
    <app_ppm_conf.throttle_exp>0</app_ppm_conf.throttle_exp>
    <app_ppm_conf.throttle_exp_brake>0</app_ppm_conf.throttle_exp_brake>
    <app_ppm_conf.throttle_exp_mode>2</app_ppm_conf.throttle_exp_mode>
    <app_ppm_conf.ramp_time_pos>0.4</app_ppm_conf.ramp_time_pos>
    <app_ppm_conf.ramp_time_neg>0.2</app_ppm_conf.ramp_time_neg>
    <app_ppm_conf.multi_esc>1</app_ppm_conf.multi_esc>
    <app_ppm_conf.tc>0</app_ppm_conf.tc>
    <app_ppm_conf.tc_max_diff>3000</app_ppm_conf.tc_max_diff>
    <app_ppm_conf.max_erpm_for_dir>4000</app_ppm_conf.max_erpm_for_dir>
    <app_ppm_conf.smart_rev_max_duty>0.07</app_ppm_conf.smart_rev_max_duty>
    <app_ppm_conf.smart_rev_ramp_time>3</app_ppm_conf.smart_rev_ramp_time>
    <app_adc_conf.ctrl_type>0</app_adc_conf.ctrl_type>
    <app_adc_conf.hyst>0.15</app_adc_conf.hyst>
    <app_adc_conf.voltage_start>0.9</app_adc_conf.voltage_start>
    <app_adc_conf.voltage_end>3</app_adc_conf.voltage_end>
    <app_adc_conf.voltage_center>2</app_adc_conf.voltage_center>
    <app_adc_conf.voltage2_start>0.9</app_adc_conf.voltage2_start>
    <app_adc_conf.voltage2_end>3</app_adc_conf.voltage2_end>
    <app_adc_conf.use_filter>1</app_adc_conf.use_filter>
    <app_adc_conf.safe_start>1</app_adc_conf.safe_start>
    <app_adc_conf.cc_button_inverted>0</app_adc_conf.cc_button_inverted>
    <app_adc_conf.rev_button_inverted>0</app_adc_conf.rev_button_inverted>
    <app_adc_conf.voltage_inverted>0</app_adc_conf.voltage_inverted>
    <app_adc_conf.voltage2_inverted>0</app_adc_conf.voltage2_inverted>
    <app_adc_conf.throttle_exp>0</app_adc_conf.throttle_exp>
    <app_adc_conf.throttle_exp_brake>0</app_adc_conf.throttle_exp_brake>
    <app_adc_conf.throttle_exp_mode>2</app_adc_conf.throttle_exp_mode>
    <app_adc_conf.ramp_time_pos>0.3</app_adc_conf.ramp_time_pos>
    <app_adc_conf.ramp_time_neg>0.1</app_adc_conf.ramp_time_neg>
    <app_adc_conf.multi_esc>1</app_adc_conf.multi_esc>
    <app_adc_conf.tc>0</app_adc_conf.tc>
    <app_adc_conf.tc_max_diff>3000</app_adc_conf.tc_max_diff>
    <app_adc_conf.update_rate_hz>500</app_adc_conf.update_rate_hz>
    <app_uart_baudrate>115200</app_uart_baudrate>
    <app_chuk_conf.ctrl_type>2</app_chuk_conf.ctrl_type>
    <app_chuk_conf.hyst>0.15</app_chuk_conf.hyst>
    <app_chuk_conf.ramp_time_pos>0.05</app_chuk_conf.ramp_time_pos>
    <app_chuk_conf.ramp_time_neg>0.11</app_chuk_conf.ramp_time_neg>
    <app_chuk_conf.stick_erpm_per_s_in_cc>3000</app_chuk_conf.stick_erpm_per_s_in_cc>
    <app_chuk_conf.throttle_exp>0</app_chuk_conf.throttle_exp>
    <app_chuk_conf.throttle_exp_brake>0</app_chuk_conf.throttle_exp_brake>
    <app_chuk_conf.throttle_exp_mode>2</app_chuk_conf.throttle_exp_mode>
    <app_chuk_conf.multi_esc>1</app_chuk_conf.multi_esc>
    <app_chuk_conf.tc>0</app_chuk_conf.tc>
    <app_chuk_conf.tc_max_diff>3000</app_chuk_conf.tc_max_diff>
    <app_chuk_conf.use_smart_rev>1</app_chuk_conf.use_smart_rev>
    <app_chuk_conf.smart_rev_max_duty>0.07</app_chuk_conf.smart_rev_max_duty>
    <app_chuk_conf.smart_rev_ramp_time>3</app_chuk_conf.smart_rev_ramp_time>
    <app_nrf_conf.speed>1</app_nrf_conf.speed>
    <app_nrf_conf.power>3</app_nrf_conf.power>
    <app_nrf_conf.crc_type>1</app_nrf_conf.crc_type>
    <app_nrf_conf.retry_delay>0</app_nrf_conf.retry_delay>
    <app_nrf_conf.retries>3</app_nrf_conf.retries>
    <app_nrf_conf.channel>76</app_nrf_conf.channel>
    <app_nrf_conf.address__0>198</app_nrf_conf.address__0>
    <app_nrf_conf.address__1>199</app_nrf_conf.address__1>
    <app_nrf_conf.address__2>0</app_nrf_conf.address__2>
    <app_nrf_conf.send_crc_ack>1</app_nrf_conf.send_crc_ack>
    <app_balance_conf.kp>0</app_balance_conf.kp>
    <app_balance_conf.ki>0</app_balance_conf.ki>
    <app_balance_conf.kd>0</app_balance_conf.kd>
    <app_balance_conf.hertz>1000</app_balance_conf.hertz>
    <app_balance_conf.loop_time_filter>0</app_balance_conf.loop_time_filter>
    <app_balance_conf.fault_pitch>20</app_balance_conf.fault_pitch>
    <app_balance_conf.fault_roll>45</app_balance_conf.fault_roll>
    <app_balance_conf.fault_duty>0.9</app_balance_conf.fault_duty>
    <app_balance_conf.fault_adc1>0</app_balance_conf.fault_adc1>
    <app_balance_conf.fault_adc2>0</app_balance_conf.fault_adc2>
    <app_balance_conf.fault_delay_pitch>0</app_balance_conf.fault_delay_pitch>
    <app_balance_conf.fault_delay_roll>0</app_balance_conf.fault_delay_roll>
    <app_balance_conf.fault_delay_duty>0</app_balance_conf.fault_delay_duty>
    <app_balance_conf.fault_delay_switch_half>0</app_balance_conf.fault_delay_switch_half>
    <app_balance_conf.fault_delay_switch_full>0</app_balance_conf.fault_delay_switch_full>
    <app_balance_conf.fault_adc_half_erpm>1000</app_balance_conf.fault_adc_half_erpm>
    <app_balance_conf.tiltback_duty_angle>10</app_balance_conf.tiltback_duty_angle>
    <app_balance_conf.tiltback_duty_speed>3</app_balance_conf.tiltback_duty_speed>
    <app_balance_conf.tiltback_duty>0.75</app_balance_conf.tiltback_duty>
    <app_balance_conf.tiltback_hv_angle>10</app_balance_conf.tiltback_hv_angle>
    <app_balance_conf.tiltback_hv_speed>3</app_balance_conf.tiltback_hv_speed>
    <app_balance_conf.tiltback_hv>200</app_balance_conf.tiltback_hv>
    <app_balance_conf.tiltback_lv_angle>10</app_balance_conf.tiltback_lv_angle>
    <app_balance_conf.tiltback_lv_speed>3</app_balance_conf.tiltback_lv_speed>
    <app_balance_conf.tiltback_lv>0</app_balance_conf.tiltback_lv>
    <app_balance_conf.tiltback_return_speed>2</app_balance_conf.tiltback_return_speed>
    <app_balance_conf.tiltback_constant>0</app_balance_conf.tiltback_constant>
    <app_balance_conf.tiltback_constant_erpm>500</app_balance_conf.tiltback_constant_erpm>
    <app_balance_conf.tiltback_variable>0</app_balance_conf.tiltback_variable>
    <app_balance_conf.tiltback_variable_max>0</app_balance_conf.tiltback_variable_max>
    <app_balance_conf.noseangling_speed>3</app_balance_conf.noseangling_speed>
    <app_balance_conf.startup_pitch_tolerance>20</app_balance_conf.startup_pitch_tolerance>
    <app_balance_conf.startup_roll_tolerance>8</app_balance_conf.startup_roll_tolerance>
    <app_balance_conf.startup_speed>30</app_balance_conf.startup_speed>
    <app_balance_conf.deadzone>0</app_balance_conf.deadzone>
    <app_balance_conf.multi_esc>0</app_balance_conf.multi_esc>
    <app_balance_conf.yaw_kp>0</app_balance_conf.yaw_kp>
    <app_balance_conf.yaw_ki>0</app_balance_conf.yaw_ki>
    <app_balance_conf.yaw_kd>0</app_balance_conf.yaw_kd>
    <app_balance_conf.roll_steer_kp>0</app_balance_conf.roll_steer_kp>
    <app_balance_conf.roll_steer_erpm_kp>0</app_balance_conf.roll_steer_erpm_kp>
    <app_balance_conf.brake_current>0</app_balance_conf.brake_current>
    <app_balance_conf.brake_timeout>10</app_balance_conf.brake_timeout>
    <app_balance_conf.yaw_current_clamp>0</app_balance_conf.yaw_current_clamp>
    <app_balance_conf.kd_pt1_lowpass_frequency>0</app_balance_conf.kd_pt1_lowpass_frequency>
    <app_balance_conf.kd_pt1_highpass_frequency>0</app_balance_conf.kd_pt1_highpass_frequency>
    <app_balance_conf.kd_biquad_lowpass>0</app_balance_conf.kd_biquad_lowpass>
    <app_balance_conf.kd_biquad_highpass>0</app_balance_conf.kd_biquad_highpass>
    <app_balance_conf.booster_angle>8</app_balance_conf.booster_angle>
    <app_balance_conf.booster_ramp>1</app_balance_conf.booster_ramp>
    <app_balance_conf.booster_current>0</app_balance_conf.booster_current>
    <app_balance_conf.torquetilt_start_current>10</app_balance_conf.torquetilt_start_current>
    <app_balance_conf.torquetilt_angle_limit>5</app_balance_conf.torquetilt_angle_limit>
    <app_balance_conf.torquetilt_on_speed>5</app_balance_conf.torquetilt_on_speed>
    <app_balance_conf.torquetilt_off_speed>3</app_balance_conf.torquetilt_off_speed>
    <app_balance_conf.torquetilt_strength>0</app_balance_conf.torquetilt_strength>
    <app_balance_conf.torquetilt_filter>2</app_balance_conf.torquetilt_filter>
    <app_balance_conf.turntilt_strength>0</app_balance_conf.turntilt_strength>
    <app_balance_conf.turntilt_angle_limit>5</app_balance_conf.turntilt_angle_limit>
    <app_balance_conf.turntilt_start_angle>1</app_balance_conf.turntilt_start_angle>
    <app_balance_conf.turntilt_start_erpm>100</app_balance_conf.turntilt_start_erpm>
    <app_balance_conf.turntilt_speed>5</app_balance_conf.turntilt_speed>
    <app_balance_conf.turntilt_erpm_boost>20</app_balance_conf.turntilt_erpm_boost>
    <app_balance_conf.turntilt_erpm_boost_end>20000</app_balance_conf.turntilt_erpm_boost_end>
    <app_pas_conf.ctrl_type>0</app_pas_conf.ctrl_type>
    <app_pas_conf.sensor_type>0</app_pas_conf.sensor_type>
    <app_pas_conf.pedal_rpm_start>10</app_pas_conf.pedal_rpm_start>
    <app_pas_conf.pedal_rpm_end>180</app_pas_conf.pedal_rpm_end>
    <app_pas_conf.invert_pedal_direction>0</app_pas_conf.invert_pedal_direction>
    <app_pas_conf.magnets>24</app_pas_conf.magnets>
    <app_pas_conf.use_filter>1</app_pas_conf.use_filter>
    <app_pas_conf.current_scaling>0.1</app_pas_conf.current_scaling>
    <app_pas_conf.ramp_time_pos>0.6</app_pas_conf.ramp_time_pos>
    <app_pas_conf.ramp_time_neg>0.3</app_pas_conf.ramp_time_neg>
    <app_pas_conf.update_rate_hz>500</app_pas_conf.update_rate_hz>
    <imu_conf.type>1</imu_conf.type>
    <imu_conf.mode>0</imu_conf.mode>
    <imu_conf.sample_rate_hz>200</imu_conf.sample_rate_hz>
    <imu_conf.accel_confidence_decay>1</imu_conf.accel_confidence_decay>
    <imu_conf.mahony_kp>0.3</imu_conf.mahony_kp>
    <imu_conf.mahony_ki>0</imu_conf.mahony_ki>
    <imu_conf.madgwick_beta>0.1</imu_conf.madgwick_beta>
    <imu_conf.rot_roll>0</imu_conf.rot_roll>
    <imu_conf.rot_pitch>0</imu_conf.rot_pitch>
    <imu_conf.rot_yaw>0</imu_conf.rot_yaw>
    <imu_conf.accel_offsets__0>0</imu_conf.accel_offsets__0>
    <imu_conf.accel_offsets__1>0</imu_conf.accel_offsets__1>
    <imu_conf.accel_offsets__2>0</imu_conf.accel_offsets__2>
    <imu_conf.gyro_offsets__0>0</imu_conf.gyro_offsets__0>
    <imu_conf.gyro_offsets__1>0</imu_conf.gyro_offsets__1>
    <imu_conf.gyro_offsets__2>0</imu_conf.gyro_offsets__2>
</APPConfiguration>

Dash 01 secondary app config

<?xml version="1.0" encoding="UTF-8"?>
<APPConfiguration>
    <ConfigVersion>2</ConfigVersion>
    <controller_id>24</controller_id>
    <timeout_msec>1000</timeout_msec>
    <timeout_brake_current>0</timeout_brake_current>
    <send_can_status>4</send_can_status>
    <send_can_status_rate_hz>50</send_can_status_rate_hz>
    <can_baud_rate>2</can_baud_rate>
    <pairing_done>0</pairing_done>
    <permanent_uart_enabled>1</permanent_uart_enabled>
    <shutdown_mode>7</shutdown_mode>
    <can_mode>0</can_mode>
    <uavcan_esc_index>0</uavcan_esc_index>
    <uavcan_raw_mode>0</uavcan_raw_mode>
    <uavcan_raw_rpm_max>208</uavcan_raw_rpm_max>
    <servo_out_enable>1</servo_out_enable>
    <kill_sw_mode>0</kill_sw_mode>
    <app_to_use>3</app_to_use>
    <app_ppm_conf.ctrl_type>0</app_ppm_conf.ctrl_type>
    <app_ppm_conf.pid_max_erpm>15000</app_ppm_conf.pid_max_erpm>
    <app_ppm_conf.hyst>0.15</app_ppm_conf.hyst>
    <app_ppm_conf.pulse_start>1</app_ppm_conf.pulse_start>
    <app_ppm_conf.pulse_end>2</app_ppm_conf.pulse_end>
    <app_ppm_conf.pulse_center>1.5</app_ppm_conf.pulse_center>
    <app_ppm_conf.median_filter>1</app_ppm_conf.median_filter>
    <app_ppm_conf.safe_start>1</app_ppm_conf.safe_start>
    <app_ppm_conf.throttle_exp>0</app_ppm_conf.throttle_exp>
    <app_ppm_conf.throttle_exp_brake>0</app_ppm_conf.throttle_exp_brake>
    <app_ppm_conf.throttle_exp_mode>2</app_ppm_conf.throttle_exp_mode>
    <app_ppm_conf.ramp_time_pos>0.4</app_ppm_conf.ramp_time_pos>
    <app_ppm_conf.ramp_time_neg>0.2</app_ppm_conf.ramp_time_neg>
    <app_ppm_conf.multi_esc>1</app_ppm_conf.multi_esc>
    <app_ppm_conf.tc>0</app_ppm_conf.tc>
    <app_ppm_conf.tc_max_diff>3000</app_ppm_conf.tc_max_diff>
    <app_ppm_conf.max_erpm_for_dir>4000</app_ppm_conf.max_erpm_for_dir>
    <app_ppm_conf.smart_rev_max_duty>0.07</app_ppm_conf.smart_rev_max_duty>
    <app_ppm_conf.smart_rev_ramp_time>3</app_ppm_conf.smart_rev_ramp_time>
    <app_adc_conf.ctrl_type>0</app_adc_conf.ctrl_type>
    <app_adc_conf.hyst>0.15</app_adc_conf.hyst>
    <app_adc_conf.voltage_start>0.9</app_adc_conf.voltage_start>
    <app_adc_conf.voltage_end>3</app_adc_conf.voltage_end>
    <app_adc_conf.voltage_center>2</app_adc_conf.voltage_center>
    <app_adc_conf.voltage2_start>0.9</app_adc_conf.voltage2_start>
    <app_adc_conf.voltage2_end>3</app_adc_conf.voltage2_end>
    <app_adc_conf.use_filter>1</app_adc_conf.use_filter>
    <app_adc_conf.safe_start>1</app_adc_conf.safe_start>
    <app_adc_conf.cc_button_inverted>0</app_adc_conf.cc_button_inverted>
    <app_adc_conf.rev_button_inverted>0</app_adc_conf.rev_button_inverted>
    <app_adc_conf.voltage_inverted>0</app_adc_conf.voltage_inverted>
    <app_adc_conf.voltage2_inverted>0</app_adc_conf.voltage2_inverted>
    <app_adc_conf.throttle_exp>0</app_adc_conf.throttle_exp>
    <app_adc_conf.throttle_exp_brake>0</app_adc_conf.throttle_exp_brake>
    <app_adc_conf.throttle_exp_mode>2</app_adc_conf.throttle_exp_mode>
    <app_adc_conf.ramp_time_pos>0.3</app_adc_conf.ramp_time_pos>
    <app_adc_conf.ramp_time_neg>0.1</app_adc_conf.ramp_time_neg>
    <app_adc_conf.multi_esc>1</app_adc_conf.multi_esc>
    <app_adc_conf.tc>0</app_adc_conf.tc>
    <app_adc_conf.tc_max_diff>3000</app_adc_conf.tc_max_diff>
    <app_adc_conf.update_rate_hz>500</app_adc_conf.update_rate_hz>
    <app_uart_baudrate>115200</app_uart_baudrate>
    <app_chuk_conf.ctrl_type>0</app_chuk_conf.ctrl_type>
    <app_chuk_conf.hyst>0.15</app_chuk_conf.hyst>
    <app_chuk_conf.ramp_time_pos>0.05</app_chuk_conf.ramp_time_pos>
    <app_chuk_conf.ramp_time_neg>0.1</app_chuk_conf.ramp_time_neg>
    <app_chuk_conf.stick_erpm_per_s_in_cc>3000</app_chuk_conf.stick_erpm_per_s_in_cc>
    <app_chuk_conf.throttle_exp>0</app_chuk_conf.throttle_exp>
    <app_chuk_conf.throttle_exp_brake>0</app_chuk_conf.throttle_exp_brake>
    <app_chuk_conf.throttle_exp_mode>2</app_chuk_conf.throttle_exp_mode>
    <app_chuk_conf.multi_esc>1</app_chuk_conf.multi_esc>
    <app_chuk_conf.tc>0</app_chuk_conf.tc>
    <app_chuk_conf.tc_max_diff>3000</app_chuk_conf.tc_max_diff>
    <app_chuk_conf.use_smart_rev>1</app_chuk_conf.use_smart_rev>
    <app_chuk_conf.smart_rev_max_duty>0.8</app_chuk_conf.smart_rev_max_duty>
    <app_chuk_conf.smart_rev_ramp_time>3</app_chuk_conf.smart_rev_ramp_time>
    <app_nrf_conf.speed>1</app_nrf_conf.speed>
    <app_nrf_conf.power>3</app_nrf_conf.power>
    <app_nrf_conf.crc_type>1</app_nrf_conf.crc_type>
    <app_nrf_conf.retry_delay>0</app_nrf_conf.retry_delay>
    <app_nrf_conf.retries>3</app_nrf_conf.retries>
    <app_nrf_conf.channel>76</app_nrf_conf.channel>
    <app_nrf_conf.address__0>198</app_nrf_conf.address__0>
    <app_nrf_conf.address__1>199</app_nrf_conf.address__1>
    <app_nrf_conf.address__2>0</app_nrf_conf.address__2>
    <app_nrf_conf.send_crc_ack>1</app_nrf_conf.send_crc_ack>
    <app_balance_conf.kp>0</app_balance_conf.kp>
    <app_balance_conf.ki>0</app_balance_conf.ki>
    <app_balance_conf.kd>0</app_balance_conf.kd>
    <app_balance_conf.hertz>1000</app_balance_conf.hertz>
    <app_balance_conf.loop_time_filter>0</app_balance_conf.loop_time_filter>
    <app_balance_conf.fault_pitch>20</app_balance_conf.fault_pitch>
    <app_balance_conf.fault_roll>45</app_balance_conf.fault_roll>
    <app_balance_conf.fault_duty>0.9</app_balance_conf.fault_duty>
    <app_balance_conf.fault_adc1>0</app_balance_conf.fault_adc1>
    <app_balance_conf.fault_adc2>0</app_balance_conf.fault_adc2>
    <app_balance_conf.fault_delay_pitch>0</app_balance_conf.fault_delay_pitch>
    <app_balance_conf.fault_delay_roll>0</app_balance_conf.fault_delay_roll>
    <app_balance_conf.fault_delay_duty>0</app_balance_conf.fault_delay_duty>
    <app_balance_conf.fault_delay_switch_half>0</app_balance_conf.fault_delay_switch_half>
    <app_balance_conf.fault_delay_switch_full>0</app_balance_conf.fault_delay_switch_full>
    <app_balance_conf.fault_adc_half_erpm>1000</app_balance_conf.fault_adc_half_erpm>
    <app_balance_conf.tiltback_duty_angle>10</app_balance_conf.tiltback_duty_angle>
    <app_balance_conf.tiltback_duty_speed>3</app_balance_conf.tiltback_duty_speed>
    <app_balance_conf.tiltback_duty>0.75</app_balance_conf.tiltback_duty>
    <app_balance_conf.tiltback_hv_angle>10</app_balance_conf.tiltback_hv_angle>
    <app_balance_conf.tiltback_hv_speed>3</app_balance_conf.tiltback_hv_speed>
    <app_balance_conf.tiltback_hv>200</app_balance_conf.tiltback_hv>
    <app_balance_conf.tiltback_lv_angle>10</app_balance_conf.tiltback_lv_angle>
    <app_balance_conf.tiltback_lv_speed>3</app_balance_conf.tiltback_lv_speed>
    <app_balance_conf.tiltback_lv>0</app_balance_conf.tiltback_lv>
    <app_balance_conf.tiltback_return_speed>2</app_balance_conf.tiltback_return_speed>
    <app_balance_conf.tiltback_constant>0</app_balance_conf.tiltback_constant>
    <app_balance_conf.tiltback_constant_erpm>500</app_balance_conf.tiltback_constant_erpm>
    <app_balance_conf.tiltback_variable>0</app_balance_conf.tiltback_variable>
    <app_balance_conf.tiltback_variable_max>0</app_balance_conf.tiltback_variable_max>
    <app_balance_conf.noseangling_speed>3</app_balance_conf.noseangling_speed>
    <app_balance_conf.startup_pitch_tolerance>20</app_balance_conf.startup_pitch_tolerance>
    <app_balance_conf.startup_roll_tolerance>8</app_balance_conf.startup_roll_tolerance>
    <app_balance_conf.startup_speed>30</app_balance_conf.startup_speed>
    <app_balance_conf.deadzone>0</app_balance_conf.deadzone>
    <app_balance_conf.multi_esc>0</app_balance_conf.multi_esc>
    <app_balance_conf.yaw_kp>0</app_balance_conf.yaw_kp>
    <app_balance_conf.yaw_ki>0</app_balance_conf.yaw_ki>
    <app_balance_conf.yaw_kd>0</app_balance_conf.yaw_kd>
    <app_balance_conf.roll_steer_kp>0</app_balance_conf.roll_steer_kp>
    <app_balance_conf.roll_steer_erpm_kp>0</app_balance_conf.roll_steer_erpm_kp>
    <app_balance_conf.brake_current>0</app_balance_conf.brake_current>
    <app_balance_conf.brake_timeout>10</app_balance_conf.brake_timeout>
    <app_balance_conf.yaw_current_clamp>0</app_balance_conf.yaw_current_clamp>
    <app_balance_conf.kd_pt1_lowpass_frequency>0</app_balance_conf.kd_pt1_lowpass_frequency>
    <app_balance_conf.kd_pt1_highpass_frequency>0</app_balance_conf.kd_pt1_highpass_frequency>
    <app_balance_conf.kd_biquad_lowpass>0</app_balance_conf.kd_biquad_lowpass>
    <app_balance_conf.kd_biquad_highpass>0</app_balance_conf.kd_biquad_highpass>
    <app_balance_conf.booster_angle>8</app_balance_conf.booster_angle>
    <app_balance_conf.booster_ramp>1</app_balance_conf.booster_ramp>
    <app_balance_conf.booster_current>0</app_balance_conf.booster_current>
    <app_balance_conf.torquetilt_start_current>10</app_balance_conf.torquetilt_start_current>
    <app_balance_conf.torquetilt_angle_limit>5</app_balance_conf.torquetilt_angle_limit>
    <app_balance_conf.torquetilt_on_speed>5</app_balance_conf.torquetilt_on_speed>
    <app_balance_conf.torquetilt_off_speed>3</app_balance_conf.torquetilt_off_speed>
    <app_balance_conf.torquetilt_strength>0</app_balance_conf.torquetilt_strength>
    <app_balance_conf.torquetilt_filter>2</app_balance_conf.torquetilt_filter>
    <app_balance_conf.turntilt_strength>0</app_balance_conf.turntilt_strength>
    <app_balance_conf.turntilt_angle_limit>5</app_balance_conf.turntilt_angle_limit>
    <app_balance_conf.turntilt_start_angle>1</app_balance_conf.turntilt_start_angle>
    <app_balance_conf.turntilt_start_erpm>100</app_balance_conf.turntilt_start_erpm>
    <app_balance_conf.turntilt_speed>5</app_balance_conf.turntilt_speed>
    <app_balance_conf.turntilt_erpm_boost>20</app_balance_conf.turntilt_erpm_boost>
    <app_balance_conf.turntilt_erpm_boost_end>20000</app_balance_conf.turntilt_erpm_boost_end>
    <app_pas_conf.ctrl_type>0</app_pas_conf.ctrl_type>
    <app_pas_conf.sensor_type>0</app_pas_conf.sensor_type>
    <app_pas_conf.pedal_rpm_start>10</app_pas_conf.pedal_rpm_start>
    <app_pas_conf.pedal_rpm_end>180</app_pas_conf.pedal_rpm_end>
    <app_pas_conf.invert_pedal_direction>0</app_pas_conf.invert_pedal_direction>
    <app_pas_conf.magnets>24</app_pas_conf.magnets>
    <app_pas_conf.use_filter>1</app_pas_conf.use_filter>
    <app_pas_conf.current_scaling>0.1</app_pas_conf.current_scaling>
    <app_pas_conf.ramp_time_pos>0.6</app_pas_conf.ramp_time_pos>
    <app_pas_conf.ramp_time_neg>0.3</app_pas_conf.ramp_time_neg>
    <app_pas_conf.update_rate_hz>500</app_pas_conf.update_rate_hz>
    <imu_conf.type>1</imu_conf.type>
    <imu_conf.mode>0</imu_conf.mode>
    <imu_conf.sample_rate_hz>200</imu_conf.sample_rate_hz>
    <imu_conf.accel_confidence_decay>1</imu_conf.accel_confidence_decay>
    <imu_conf.mahony_kp>0.3</imu_conf.mahony_kp>
    <imu_conf.mahony_ki>0</imu_conf.mahony_ki>
    <imu_conf.madgwick_beta>0.1</imu_conf.madgwick_beta>
    <imu_conf.rot_roll>0</imu_conf.rot_roll>
    <imu_conf.rot_pitch>0</imu_conf.rot_pitch>
    <imu_conf.rot_yaw>0</imu_conf.rot_yaw>
    <imu_conf.accel_offsets__0>0</imu_conf.accel_offsets__0>
    <imu_conf.accel_offsets__1>0</imu_conf.accel_offsets__1>
    <imu_conf.accel_offsets__2>0</imu_conf.accel_offsets__2>
    <imu_conf.gyro_offsets__0>0</imu_conf.gyro_offsets__0>
    <imu_conf.gyro_offsets__1>0</imu_conf.gyro_offsets__1>
    <imu_conf.gyro_offsets__2>0</imu_conf.gyro_offsets__2>
</APPConfiguration>
2 Likes
#13

ah, was avoiding going beyond 5.3 as robogotchi hasn’t supported beyond that yet.

2 Likes
#14

also should add I need a goofy footed binding. so far ridden it with foot jammed up against regular foot binding. and with no binding.

DAE464D4-E9DA-4521-BCFE-54B66A089DEE
DAE464D4-E9DA-4521-BCFE-54B66A089DEE3024×4032 2.53 MB

2 Likes
#15

200 motor amps on 20S!? You are going to fry those motors.

The problem with running high peak power is the coil temperature rises too fast for the temp sensor to pick up. Even 120 motor amps is a lot for 151kv.

I found it helps with punch if you do like 40% expo or higher on the puck.

5 Likes
#16

Thank you for calling that out.

That’s an interesting point. I was watching motor temps and thinking they seemed ok. but yeah a hot point in the coil is far from the temp sensor. probably a clue as to how I smoked castle 2028s while thinking i was watching temps. and i see the 151kv is rated 90A. now. :smiley:

I definitely felt the jump from 100 to 150 motor amps, started to feel more raceboard like. hmm.

2 Likes
#17

What ERPM can the lil focer’s handle?

#18

i’m using OSRR, and just trying to pin it. how would more expo help vs giving it more throttle? am i missing something?

still need to try it given how much people recommend it.

#19

Its based on vesc 6 so theoretically 150k erpm, ive done succesful unloaded tests up to 135k ermp on solo which is similar.

Also i have a set up running 245kv on 18s and little foccers and we are able to max that consistently

5 Likes
#20

I think to get the same power as a V5 with outrunners you need to go 4wd

1 Like