[I 15:39:06.175] ======================================
[I 15:39:06.175] * application name: metr
[I 15:39:06.176] * organization name: metr.at
[I 15:39:06.176] * application version: 4.2.10
[I 15:39:06.176] * system: Android  (10.0)
[I 15:39:06.176] ======================================
[I 15:39:06.527] Settings::Settings(QObject *)
[I 15:39:06.528] void Utils::init()
[I 15:39:06.538] value: key=keepScreenOn, value=0
[I 15:39:06.538] value: key=useLocation, value=1
[I 15:39:06.539] value: key=uploadLocation, value=1
[I 15:39:06.539] value: key=locationAccuracy, value=0
[I 15:39:06.539] value: key=useBarometer, value=0
[I 15:39:06.539] value: key=notifications, value=1
[I 15:39:06.539] value: key=endOfChargeVoltage, value=0
[I 15:39:06.539] value: key=lowVoltage, value=0
[I 15:39:06.539] value: key=disconnectNotification, value=1
[I 15:39:06.539] value: key=recordNotification, value=1
[I 15:39:06.539] value: key=inAppNotifications, value=0
[I 15:39:06.539] value: key=updateInterval, value=300
[I 15:39:06.539] value: key=pointInterval, value=160
[I 15:39:06.539] value: key=poles, value=14
[I 15:39:06.539] value: key=initCells, value=0
[I 15:39:06.539] value: key=initLanguage, value=0
[I 15:39:06.539] value: key=preferGPS, value=0
[I 15:39:06.539] value: key=freewheel, value=0
[I 15:39:06.539] value: key=smoothVoltage, value=1
[I 15:39:06.539] value: key=smoothVoltageMargin, value=0.50
[I 15:39:06.539] value: key=motorPulleyTeeth, value=15
[I 15:39:06.539] value: key=wheelPulleyTeeth, value=72
[I 15:39:06.539] value: key=wheelDiameter, value=200
[I 15:39:06.539] value: key=addr, value=0
[I 15:39:06.539] value: key=multiplyValues, value=1
[I 15:39:06.539] value: key=dualValues, value=1
[I 15:39:06.539] value: key=canFwd, value=0
[I 15:39:06.539] value: key=canId, value=0
[I 15:39:06.539] value: key=canHideFooter, value=0
[I 15:39:06.539] value: key=scaleUI, value=1
[I 15:39:06.539] value: key=developerMode, value=0
[I 15:39:06.539] value: key=untestedFirmware, value=0
[I 15:39:06.539] value: key=betaMetrPro, value=0
[I 15:39:06.539] value: key=step, value=10
[I 15:39:06.539] value: key=system, value=0
[I 15:39:06.539] value: key=theme, value=1
[I 15:39:06.539] value: key=enableWatch, value=0
[I 15:39:06.539] value: key=language, value=en
[I 15:39:06.539] value: key=tempUnits, value=0
[I 15:39:06.539] value: key=batteryType, value=1
[I 15:39:06.539] value: key=voltageS, value=10
[I 15:39:06.539] value: key=cellVoltage0, value=3.2
[I 15:39:06.540] value: key=cellVoltage1, value=3.39
[I 15:39:06.540] value: key=cellVoltage2, value=3.48
[I 15:39:06.540] value: key=cellVoltage3, value=3.57
[I 15:39:06.540] value: key=cellVoltage4, value=3.66
[I 15:39:06.540] value: key=cellVoltage5, value=3.75
[I 15:39:06.540] value: key=cellVoltage6, value=3.84
[I 15:39:06.540] value: key=cellVoltage7, value=3.93
[I 15:39:06.540] value: key=cellVoltage8, value=4.02
[I 15:39:06.540] value: key=cellVoltage9, value=4.11
[I 15:39:06.540] value: key=cellVoltage10, value=4.2
[I 15:39:06.540] value: key=automaticRecords, value=1
[I 15:39:06.540] value: key=startDelay, value=10
[I 15:39:06.540] value: key=stopDelay, value=900000
[I 15:39:06.540] value: key=automaticUploads, value=0
[I 15:39:06.540] value: key=dieBieAutoShow, value=1
[I 15:39:06.540] value: key=consumptionWindow, value=5000
[I 15:39:06.540] value: key=ignoreBatteryOptimizations, value=1
[I 15:39:06.541] value: key=announcementsEnabled, value=1
[I 15:39:06.541] value: key=showAllRecords, value=1
[I 15:39:06.541] value: key=dischargeMotorCurrent, value=15
[I 15:39:06.541] value: key=dischargeBatteryPercent, value=30
[I 15:39:06.541] value: key=forceScan, value=0
[I 15:39:06.541] screenWidth=320 screenHeight=480
[I 15:39:06.577] [lfi] check useLocation=1
[I 15:39:06.779] screenWidth=411 screenHeight=480
[I 15:39:06.779] UI mult=1.1333026956643137
[I 15:39:06.784] screenWidth=411 screenHeight=813
[I 15:39:06.946] [rt] enter
[I 15:39:06.994] [lfi] setting PositionSource.active to true
[I 15:39:07.075] QObject *bluetooth::DiscoveryAgent::loadOne()
[I 15:39:07.076] loadDeviceInfo: address=EC:8A:9C:8C:71:CF
[I 15:39:07.076] loadDeviceInfo: name=Metr pro
[I 15:39:07.076] loadDeviceInfo: flags=7936
[I 15:39:07.076] loadDeviceInfo: 2 serviceUuids
[I 15:39:07.076] isMetrPro: device:EC8A9C8C71CF has matching services
[I 15:39:07.076] bluetooth::Device::Device(QObject *)
[I 15:39:07.076] bluetooth::MetrPro::MetrPro(QObject *)
[I 15:39:07.076] void bluetooth::Device::setInfo(const QBluetoothDeviceInfo &)
[I 15:39:07.076] value: key=alias.EC8A9C8C71CF, value=Metr pro
[I 15:39:07.076] [bm] addDevice alias=Metr pro, checked=1
[I 15:39:07.076] [bm] connectTo alias=Metr pro
[I 15:39:07.076] void bluetooth::Device::init()
[I 15:39:07.080] virtual void bluetooth::Device::join()
[I 15:39:07.087] Loading stats: stats.EC8A9C8C71CF
[I 15:39:07.087] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 15:39:07.087] value: key=totalDistance, value=605650.9744624861
[I 15:39:07.087] value: key=totalWh, value=9210.661699999522
[I 15:39:07.087] value: key=totalTime, value=91015899
[I 15:39:07.087] value: key=topSpeed, value=50
[I 15:39:07.087] value: key=averageSpeed, value=20.495620045517345
[I 15:39:07.087] value: key=averageSpeedSec, value=102184
[I 15:39:07.087] void Settings::endGroup()
[I 15:39:07.087] Loading stats: today.stats.EC8A9C8C71CF
[I 15:39:07.087] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 15:39:07.087] value: key=totalDistance, value=0
[I 15:39:07.087] value: key=totalWh, value=0
[I 15:39:07.087] value: key=totalTime, value=0
[I 15:39:07.087] value: key=topSpeed, value=0
[I 15:39:07.087] value: key=averageSpeed, value=0
[I 15:39:07.087] value: key=averageSpeedSec, value=0
[I 15:39:07.087] value: key=today, value=1584108332354
[I 15:39:07.088] void Settings::endGroup()
[I 15:39:07.088] Resetting today stats 5 6
[I 15:39:07.088] Resetting today.stats.EC8A9C8C71CF stats
[I 15:39:07.088] Saving stats: today.stats.EC8A9C8C71CF
[I 15:39:07.088] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 15:39:07.088] setValue: key=today, value=1584196747088
[I 15:39:07.088] setValue: key=totalDistance, value=0
[I 15:39:07.088] setValue: key=totalWh, value=0
[I 15:39:07.088] setValue: key=totalTime, value=0
[I 15:39:07.088] setValue: key=topSpeed, value=0
[I 15:39:07.088] setValue: key=averageSpeed, value=0
[I 15:39:07.088] setValue: key=averageSpeedSec, value=0
[I 15:39:07.088] void Settings::endGroup()
[I 15:39:07.088] [mm] load()
[I 15:39:07.088] [ds] Loading settings for EC8A9C8C71CF
[I 15:39:07.088] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:07.089] value: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":true},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"18","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"10","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:07.089] void Settings::endGroup()
[I 15:39:07.089] [mm] 10 modes avail to load
[I 15:39:07.089] [mm] loadOne legal
[I 15:39:07.095] [mm] loadOne custom
[I 15:39:07.096] [mm] loadOne lipo
[I 15:39:07.097] [mm] loadOne lipo legal
[I 15:39:07.099] [mm] loadOne FOC 10s
[I 15:39:07.100] [mm] loadOne FOC 12s
[I 15:39:07.102] [mm] loadOne 6kmh
[I 15:39:07.103] [mm] loadOne foc mtb
[I 15:39:07.105] [mm] loadOne stock 40
[I 15:39:07.106] [mm] loadOne manbabe
[I 15:39:07.108] pair: device=0x7e288f9b80, esc=0x7e2a829680
[I 15:39:07.108] [mw] openRealtime
[I 15:39:07.108] [ds] Activating settings for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Setting 'downloaded' not applicable
[I 15:39:07.109] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Setting 'modes' not applicable
[I 15:39:07.109] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.voltageS value=10 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 15:39:07.109] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 15:39:07.109] QList<QObject *> bluetooth::DiscoveryAgent::load()
[I 15:39:07.118] loadDeviceInfo: address=EC:8A:9C:8C:71:CF
[I 15:39:07.118] loadDeviceInfo: name=Metr pro
[I 15:39:07.118] loadDeviceInfo: flags=7936
[I 15:39:07.118] loadDeviceInfo: 2 serviceUuids
[I 15:39:07.118] loadDeviceInfo: address=EC:8A:9C:8C:71:CF
[I 15:39:07.118] loadDeviceInfo: name=Metr pro
[I 15:39:07.118] loadDeviceInfo: flags=7936
[I 15:39:07.118] loadDeviceInfo: 2 serviceUuids
[I 15:39:07.118] loadDeviceInfo: address=00:15:83:10:54:83
[I 15:39:07.118] loadDeviceInfo: name=metr-360 
[I 15:39:07.118] loadDeviceInfo: flags=7936
[I 15:39:07.118] loadDeviceInfo: 1 serviceUuids
[I 15:39:07.118] isHM10: device:001583105483 has matching services
[I 15:39:07.118] isHM10: device:001583105483 has matching name
[I 15:39:07.118] bluetooth::Device::Device(QObject *)
[I 15:39:07.118] bluetooth::HM10::HM10(QObject *)
[I 15:39:07.118] void bluetooth::Device::setInfo(const QBluetoothDeviceInfo &)
[I 15:39:07.119] value: key=alias.001583105483, value=Metr non
[I 15:39:07.119] [bm] addDevice alias=Metr non, checked=0
[I 15:39:09.619] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 15:39:10.611] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 15:39:10.611] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 15:39:10.612] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 15:39:10.612] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 15:39:10.612] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 15:39:10.617] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 15:39:10.617] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 15:39:10.617] void bluetooth::Device::onDiscoveryFinished()
[I 15:39:10.672] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 15:39:10.672] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 15:39:10.673] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 15:39:10.673] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 15:39:10.739] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 15:39:10.739] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 15:39:10.740] void bluetooth::MetrPro::checkFound()
[I 15:39:10.740] void bluetooth::Device::listen()
[I 15:39:10.872] onDescriptorWritten: value=0100(2)
[I 15:39:10.872] Global.device went online
[I 15:39:10.874] Creating Pro detector
[I 15:39:10.876] random: data=e04e9f5bdc174df4eb4961eb20b254caefd7b13df951b8950f3735c71dc92f11(32)
[I 15:39:10.878] Ask.metrProVersion()
[I 15:39:10.884] [dtctr.pro] Component.onCompleted
[I 15:39:10.925] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 15:39:10.925] [NRF_LOG]  bootloader: 0x00078000
[I 15:39:10.926] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 15:39:10.928] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 15:39:10.930] [NRF_LOG] <info> app: LL V9.183
[I 15:39:10.961] [NRF_LOG] <info> app: Advertising started
[I 15:39:10.961] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 15:39:10.962] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 15:39:10.962] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 15:39:10.962] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 15:39:10.962] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 15:39:11.010] [NRF_LOG] <info> app: detected CAN 1
[I 15:39:11.011] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 15:39:11.011] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 15:39:11.011] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 15:39:11.011] [NRF_LOG] <info> app: Connected
[I 15:39:11.012] [NRF_LOG] <info> app: Advertising stopped
[I 15:39:11.012] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 15:39:11.049] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 15:39:11.049] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 15:39:11.050] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 15:39:11.050] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 15:39:11.093] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 15:39:11.093] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 15:39:11.093] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 15:39:11.094] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 15:39:11.094] [ds] Activating settings for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Setting 'downloaded' not applicable
[I 15:39:11.095] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Setting 'modes' not applicable
[I 15:39:11.095] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.voltageS value=10 for EC8A9C8C71CF
[I 15:39:11.095] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 15:39:11.096] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 15:39:11.096] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 15:39:11.096] isNewerVersion available=4.8, installed=4.19
[I 15:39:11.096] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 15:39:11.096] Ask.readOnly() val=undefined
[I 15:39:11.099] Ask.cert()
[I 15:39:11.137] [dtctr.pro] packet METR_READONLY reply:0
[I 15:39:11.226] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 15:39:11.252] verifyCert: verified=1
[I 15:39:11.252] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 15:39:11.254] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:11.254] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:11.254] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":true},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"18","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"10","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:11.254] void Settings::endGroup()
[I 15:39:11.254] Ask.auth()
[I 15:39:11.457] verifySignature: data=e04e9f5bdc174df4eb4961eb20b254caefd7b13df951b8950f3735c71dc92f11(32), signature=667c9c980c6fbcd8be7eb143853a9e94d6c4095e552ede11cb17979e3d0bce9bcc1a22b0bb02463ed654efe774ea3393b817fc38597555687ae0769212686f84(64)
[I 15:39:11.486] verifySignature: verified=1
[I 15:39:11.487] Ask.secure()
[I 15:39:11.687] [dtctr.pro] BLE secured
[I 15:39:11.687] Ask.version()
[I 15:39:11.690] [NRF_LOG] <info> app: connection already secured
[I 15:39:11.774] onFwMajorChanged=3
[I 15:39:11.775] [dtctr.pro] VESC FW3.103 HW410
[I 15:39:11.775] Ask.count()
[I 15:39:11.857] [si] allVESCsLen: 1
[I 15:39:11.861] VESC CAN ID 1
[I 15:39:11.861] VESC count 2
[I 15:39:11.861] onDetectMultipleFinishedChanged true
[I 15:39:11.861] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 15:39:11.861] Ask.version()
[I 15:39:11.867] Ask.startRt()
[I 15:39:13.386] bluetooth::Device::Device(QObject *)
[I 15:39:13.403] [rt] exit
[I 15:39:13.406] [settings] enter
[I 15:39:13.422] MOCK: detectBaud i=0, sRT=0
[I 15:39:13.422] MOCK: detected baud i=0 sRT=0
[I 15:39:13.422] MOCK: fw ma=4 mi=2
[I 15:39:13.422] MOCK: using COMM_PING_CAN
[I 15:39:13.422] MOCK: COMM_PING_CAN len=1
[I 15:39:13.422] MOCK: COMM_PING_CAN id=0
[I 15:39:13.422] MOCK: finishCanDetect, canIdx=0
[I 15:39:15.093] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[I 15:39:17.090] setValue: key=voltageS, value=1
[I 15:39:17.090] Setting voltageS to 1 for EC8A9C8C71CF
[I 15:39:17.091] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:17.091] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:17.091] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":true},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"18","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"1","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:17.091] void Settings::endGroup()
[I 15:39:17.289] setValue: key=voltageS, value=12
[I 15:39:17.289] Setting voltageS to 12 for EC8A9C8C71CF
[I 15:39:17.290] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:17.290] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:17.290] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":true},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"18","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:17.291] void Settings::endGroup()
[I 15:39:20.434] [settings] exit
[I 15:39:20.443] [modes] enter
[I 15:39:20.443] Ask.stopRt()
[I 15:39:21.737] createMotorConf FW 3.103
[I 15:39:21.739] [modes] Applying 'lipo'
[I 15:39:21.739] [confs] Initializing 2 configuration containers
[I 15:39:21.739] createMotorConf FW 3.103
[I 15:39:21.741] createMotorConf FW 3.103
[I 15:39:21.743] [confs] read()
[I 15:39:21.744] createMotorConf FW 3.103
[I 15:39:21.745] [confs] readMotorConfiguration
[I 15:39:21.745] Ask.motorConfGet()
[I 15:39:21.886] Stopping configurations timer
[I 15:39:21.886] [confs] GET_MCCONF reply currentId=0
[I 15:39:21.886] Ask.motorConfRead()
[I 15:39:21.886] [ask]: conf does not have signature
[I 15:39:21.887] MC:pwm_mode=1
[I 15:39:21.887] MC:comm_mode=0
[I 15:39:21.887] MC:motor_type=2
[I 15:39:21.888] MC:sensor_mode=2
[I 15:39:21.888] MC:l_current_max=70
[I 15:39:21.888] MC:l_current_min=-70
[I 15:39:21.888] MC:l_in_current_max=60
[I 15:39:21.888] MC:l_in_current_min=-7
[I 15:39:21.889] MC:l_abs_current_max=130
[I 15:39:21.889] MC:l_min_erpm=-60000
[I 15:39:21.889] MC:l_max_erpm=44563.4
[I 15:39:21.889] MC:l_erpm_start=0.8
[I 15:39:21.889] MC:l_max_erpm_fbrake=300
[I 15:39:21.889] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:21.891] MC:l_min_vin=6
[I 15:39:21.891] MC:l_max_vin=57
[I 15:39:21.891] MC:l_battery_cut_start=30
[I 15:39:21.891] MC:l_battery_cut_end=29
[I 15:39:21.891] MC:l_slow_abs_current=1
[I 15:39:21.891] MC:l_temp_fet_start=85
[I 15:39:21.891] MC:l_temp_fet_end=100
[I 15:39:21.891] MC:l_temp_motor_start=85
[I 15:39:21.891] MC:l_temp_motor_end=100
[I 15:39:21.891] MC:l_temp_accel_dec=0.1
[I 15:39:21.891] MC:l_min_duty=0.005
[I 15:39:21.891] MC:l_max_duty=0.95
[I 15:39:21.891] MC:l_watt_max=1.5e+06
[I 15:39:21.891] MC:l_watt_min=-1.5e+06
[I 15:39:21.891] MC:sl_min_erpm=150
[I 15:39:21.891] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:21.891] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:21.891] MC:sl_cycle_int_limit=62
[I 15:39:21.891] MC:sl_phase_advance_at_br=0.8
[I 15:39:21.891] MC:sl_cycle_int_rpm_br=80000
[I 15:39:21.891] MC:sl_bemf_coupling_k=600
[I 15:39:21.891] MC:hall_table_0=255
[I 15:39:21.891] MC:hall_table_1=1
[I 15:39:21.891] MC:hall_table_2=3
[I 15:39:21.891] MC:hall_table_3=2
[I 15:39:21.891] MC:hall_table_4=5
[I 15:39:21.891] MC:hall_table_5=6
[I 15:39:21.891] MC:hall_table_6=4
[I 15:39:21.891] MC:hall_table_7=255
[I 15:39:21.891] MC:hall_sl_erpm=2000
[I 15:39:21.891] MC:foc_current_kp=0.0044
[I 15:39:21.892] MC:foc_current_ki=13.95
[I 15:39:21.892] MC:foc_f_sw=20000
[I 15:39:21.892] MC:foc_dt_us=0.08
[I 15:39:21.892] MC:foc_encoder_inverted=0
[I 15:39:21.892] MC:foc_encoder_offset=180
[I 15:39:21.892] MC:foc_encoder_ratio=7
[I 15:39:21.892] MC:foc_sensor_mode=2
[I 15:39:21.892] MC:foc_pll_kp=2000
[I 15:39:21.892] MC:foc_pll_ki=40000
[I 15:39:21.892] MC:foc_motor_l=4.37e-06
[I 15:39:21.892] MC:foc_motor_r=0.0139
[I 15:39:21.892] MC:foc_motor_flux_linkage=0.004444
[I 15:39:21.892] MC:foc_observer_gain=5.064e+07
[I 15:39:21.892] MC:foc_observer_gain_slow=0.3
[I 15:39:21.892] MC:foc_duty_dowmramp_kp=10
[I 15:39:21.892] MC:foc_duty_dowmramp_ki=200
[I 15:39:21.892] MC:foc_openloop_rpm=400
[I 15:39:21.892] MC:foc_sl_openloop_hyst=0.1
[I 15:39:21.892] MC:foc_sl_openloop_time=0.1
[I 15:39:21.892] MC:foc_sl_d_current_duty=0
[I 15:39:21.892] MC:foc_sl_d_current_factor=0
[I 15:39:21.892] MC:foc_hall_table0=255
[I 15:39:21.892] MC:foc_hall_table1=86
[I 15:39:21.892] MC:foc_hall_table2=17
[I 15:39:21.892] MC:foc_hall_table3=56
[I 15:39:21.892] MC:foc_hall_table4=155
[I 15:39:21.892] MC:foc_hall_table5=119
[I 15:39:21.892] MC:foc_hall_table6=183
[I 15:39:21.892] MC:foc_hall_table7=255
[I 15:39:21.892] MC:foc_sl_erpm=2500
[I 15:39:21.892] MC:foc_sample_v0_v7=0
[I 15:39:21.892] MC:foc_sample_high_current=0
[I 15:39:21.892] MC:foc_sat_comp=0
[I 15:39:21.892] MC:foc_temp_comp=0
[I 15:39:21.893] MC:foc_temp_comp_base_temp=25
[I 15:39:21.893] MC:foc_current_filter_const=0.1
[I 15:39:21.893] MC:s_pid_kp=0.002
[I 15:39:21.893] MC:s_pid_ki=0.002
[I 15:39:21.893] MC:s_pid_kd=0
[I 15:39:21.893] MC:s_pid_kd_filter=0.2
[I 15:39:21.893] MC:s_pid_min_rpm=900
[I 15:39:21.893] MC:s_pid_allow_braking=1
[I 15:39:21.893] MC:p_pid_kp=0.03
[I 15:39:21.893] MC:p_pid_ki=0
[I 15:39:21.893] MC:p_pid_kd=0.0004
[I 15:39:21.893] MC:p_pid_kd_filter=0.2
[I 15:39:21.893] MC:p_pid_ang_div=1
[I 15:39:21.893] MC:cc_startup_boost_duty=0.01
[I 15:39:21.893] MC:cc_min_current=0.1
[I 15:39:21.893] MC:cc_gain=0.0046
[I 15:39:21.893] MC:cc_ramp_step_max=0.04
[I 15:39:21.893] MC:m_fault_stop_time_ms=500
[I 15:39:21.893] MC:m_duty_ramp_step=0.02
[I 15:39:21.893] MC:m_current_backoff_gain=0.5
[I 15:39:21.893] MC:m_encoder_counts=8192
[I 15:39:21.893] MC:m_sensor_port_mode=0
[I 15:39:21.893] MC:m_invert_direction=0
[I 15:39:21.893] MC:m_drv8301_oc_mode=0
[I 15:39:21.893] MC:m_drv8301_oc_adj=16
[I 15:39:21.893] MC:m_bldc_f_sw_min=3000
[I 15:39:21.893] MC:m_bldc_f_sw_max=40000
[I 15:39:21.893] MC:m_dc_f_sw=35000
[I 15:39:21.893] MC:m_ntc_motor_beta=3380
[I 15:39:21.894] [confs] readAppConfiguration
[I 15:39:21.894] Ask.appConfGet()
[I 15:39:21.943] Stopping configurations timer
[I 15:39:21.943] [confs] GET_APPCONF reply currentId=0
[I 15:39:21.943] Ask.appConfRead()
[I 15:39:21.943] [ask]: conf does not have signature
[I 15:39:21.944] AC:controller_id=0
[I 15:39:21.944] AC:timeout_msec=1000
[I 15:39:21.944] AC:timeout_brake_current=0
[I 15:39:21.944] AC:send_can_status=1
[I 15:39:21.944] AC:send_can_status_rate_hz=200
[I 15:39:21.944] AC:can_baud_rate=2
[I 15:39:21.944] AC:app_to_use=4
[I 15:39:21.944] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:21.945] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:21.945] AC:app_ppm_conf_hyst=0.15
[I 15:39:21.945] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:21.945] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:21.945] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:21.945] AC:app_ppm_conf_median_filter=1
[I 15:39:21.945] AC:app_ppm_conf_safe_start=1
[I 15:39:21.945] AC:app_ppm_conf_throttle_exp=0.85
[I 15:39:21.945] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:39:21.945] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:39:21.945] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:21.946] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:21.946] AC:app_ppm_conf_multi_esc=1
[I 15:39:21.946] AC:app_ppm_conf_tc=1
[I 15:39:21.946] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:21.946] AC:app_adc_conf_ctrl_type=0
[I 15:39:21.946] AC:app_adc_conf_hyst=0.15
[I 15:39:21.946] AC:app_adc_conf_voltage_start=0.9
[I 15:39:21.946] AC:app_adc_conf_voltage_end=3
[I 15:39:21.946] AC:app_adc_conf_voltage_center=2
[I 15:39:21.946] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:21.946] AC:app_adc_conf_voltage2_end=3
[I 15:39:21.946] AC:app_adc_conf_use_filter=1
[I 15:39:21.947] AC:app_adc_conf_safe_start=1
[I 15:39:21.947] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:21.947] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:21.947] AC:app_adc_conf_voltage_inverted=0
[I 15:39:21.947] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:21.947] AC:app_adc_conf_throttle_exp=0
[I 15:39:21.947] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:21.947] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:21.947] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:21.947] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:21.947] AC:app_adc_conf_multi_esc=0
[I 15:39:21.948] AC:app_adc_conf_tc=0
[I 15:39:21.948] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:21.948] AC:app_adc_conf_update_rate_hz=500
[I 15:39:21.948] AC:app_uart_baudrate=115200
[I 15:39:21.948] AC:app_chuk_conf_ctrl_type=1
[I 15:39:21.948] AC:app_chuk_conf_hyst=0.15
[I 15:39:21.948] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:21.948] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:21.948] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:21.949] AC:app_chuk_conf_throttle_exp=0
[I 15:39:21.949] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:21.949] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:21.949] AC:app_chuk_conf_multi_esc=0
[I 15:39:21.949] AC:app_chuk_conf_tc=0
[I 15:39:21.949] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:21.949] AC:app_nrf_conf_speed=2
[I 15:39:21.949] AC:app_nrf_conf_power=3
[I 15:39:21.949] AC:app_nrf_conf_crc_type=1
[I 15:39:21.949] AC:app_nrf_conf_retry_delay=0
[I 15:39:21.949] AC:app_nrf_conf_retries=3
[I 15:39:21.949] AC:app_nrf_conf_channel=76
[I 15:39:21.950] AC:app_nrf_conf_address=13027072
[I 15:39:21.951] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:21.951] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:21.951] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:21.951] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:21.951] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:21.951] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:21.951] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:21.951] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:21.951] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:21.951] [confs] readMotorConfiguration
[I 15:39:21.951] Ask.motorConfGet()
[I 15:39:22.088] Stopping configurations timer
[I 15:39:22.088] [confs] GET_MCCONF reply currentId=1
[I 15:39:22.088] Ask.motorConfRead()
[I 15:39:22.088] [ask]: conf does not have signature
[I 15:39:22.089] MC:pwm_mode=1
[I 15:39:22.089] MC:comm_mode=0
[I 15:39:22.089] MC:motor_type=2
[I 15:39:22.089] MC:sensor_mode=2
[I 15:39:22.090] MC:l_current_max=70
[I 15:39:22.090] MC:l_current_min=-70
[I 15:39:22.090] MC:l_in_current_max=60
[I 15:39:22.090] MC:l_in_current_min=-7
[I 15:39:22.091] MC:l_abs_current_max=130
[I 15:39:22.091] MC:l_min_erpm=-60000
[I 15:39:22.091] MC:l_max_erpm=44563.4
[I 15:39:22.091] MC:l_erpm_start=0.8
[I 15:39:22.091] MC:l_max_erpm_fbrake=300
[I 15:39:22.091] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:22.091] MC:l_min_vin=6
[I 15:39:22.091] MC:l_max_vin=57
[I 15:39:22.091] MC:l_battery_cut_start=30
[I 15:39:22.091] MC:l_battery_cut_end=29
[I 15:39:22.091] MC:l_slow_abs_current=1
[I 15:39:22.092] MC:l_temp_fet_start=85
[I 15:39:22.092] MC:l_temp_fet_end=100
[I 15:39:22.092] MC:l_temp_motor_start=85
[I 15:39:22.092] MC:l_temp_motor_end=100
[I 15:39:22.092] MC:l_temp_accel_dec=0.1
[I 15:39:22.092] MC:l_min_duty=0.005
[I 15:39:22.092] MC:l_max_duty=0.95
[I 15:39:22.092] MC:l_watt_max=1.5e+06
[I 15:39:22.092] MC:l_watt_min=-1.5e+06
[I 15:39:22.092] MC:sl_min_erpm=150
[I 15:39:22.092] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:22.093] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:22.093] MC:sl_cycle_int_limit=62
[I 15:39:22.093] MC:sl_phase_advance_at_br=0.8
[I 15:39:22.093] MC:sl_cycle_int_rpm_br=80000
[I 15:39:22.093] MC:sl_bemf_coupling_k=600
[I 15:39:22.093] MC:hall_table_0=255
[I 15:39:22.093] MC:hall_table_1=1
[I 15:39:22.093] MC:hall_table_2=3
[I 15:39:22.093] MC:hall_table_3=2
[I 15:39:22.093] MC:hall_table_4=5
[I 15:39:22.093] MC:hall_table_5=6
[I 15:39:22.093] MC:hall_table_6=4
[I 15:39:22.094] MC:hall_table_7=255
[I 15:39:22.094] MC:hall_sl_erpm=2000
[I 15:39:22.094] MC:foc_current_kp=0.005
[I 15:39:22.094] MC:foc_current_ki=13.65
[I 15:39:22.094] MC:foc_f_sw=20000
[I 15:39:22.094] MC:foc_dt_us=0.08
[I 15:39:22.094] MC:foc_encoder_inverted=0
[I 15:39:22.094] MC:foc_encoder_offset=180
[I 15:39:22.094] MC:foc_encoder_ratio=7
[I 15:39:22.094] MC:foc_sensor_mode=2
[I 15:39:22.094] MC:foc_pll_kp=2000
[I 15:39:22.094] MC:foc_pll_ki=40000
[I 15:39:22.095] MC:foc_motor_l=4.96e-06
[I 15:39:22.095] MC:foc_motor_r=0.0137
[I 15:39:22.095] MC:foc_motor_flux_linkage=0.004425
[I 15:39:22.095] MC:foc_observer_gain=5.107e+07
[I 15:39:22.095] MC:foc_observer_gain_slow=0.3
[I 15:39:22.095] MC:foc_duty_dowmramp_kp=10
[I 15:39:22.095] MC:foc_duty_dowmramp_ki=200
[I 15:39:22.095] MC:foc_openloop_rpm=400
[I 15:39:22.095] MC:foc_sl_openloop_hyst=0.1
[I 15:39:22.095] MC:foc_sl_openloop_time=0.1
[I 15:39:22.095] MC:foc_sl_d_current_duty=0
[I 15:39:22.096] MC:foc_sl_d_current_factor=0
[I 15:39:22.096] MC:foc_hall_table0=255
[I 15:39:22.096] MC:foc_hall_table1=52
[I 15:39:22.096] MC:foc_hall_table2=115
[I 15:39:22.096] MC:foc_hall_table3=82
[I 15:39:22.096] MC:foc_hall_table4=179
[I 15:39:22.096] MC:foc_hall_table5=15
[I 15:39:22.096] MC:foc_hall_table6=149
[I 15:39:22.096] MC:foc_hall_table7=255
[I 15:39:22.096] MC:foc_sl_erpm=2500
[I 15:39:22.096] MC:foc_sample_v0_v7=0
[I 15:39:22.096] MC:foc_sample_high_current=0
[I 15:39:22.096] MC:foc_sat_comp=0
[I 15:39:22.097] MC:foc_temp_comp=0
[I 15:39:22.097] MC:foc_temp_comp_base_temp=25
[I 15:39:22.097] MC:foc_current_filter_const=0.1
[I 15:39:22.097] MC:s_pid_kp=0.002
[I 15:39:22.097] MC:s_pid_ki=0.002
[I 15:39:22.097] MC:s_pid_kd=0
[I 15:39:22.097] MC:s_pid_kd_filter=0.2
[I 15:39:22.097] MC:s_pid_min_rpm=900
[I 15:39:22.097] MC:s_pid_allow_braking=1
[I 15:39:22.097] MC:p_pid_kp=0.03
[I 15:39:22.097] MC:p_pid_ki=0
[I 15:39:22.098] MC:p_pid_kd=0.0004
[I 15:39:22.098] MC:p_pid_kd_filter=0.2
[I 15:39:22.098] MC:p_pid_ang_div=1
[I 15:39:22.098] MC:cc_startup_boost_duty=0.01
[I 15:39:22.098] MC:cc_min_current=0.1
[I 15:39:22.098] MC:cc_gain=0.0046
[I 15:39:22.098] MC:cc_ramp_step_max=0.04
[I 15:39:22.098] MC:m_fault_stop_time_ms=500
[I 15:39:22.098] MC:m_duty_ramp_step=0.02
[I 15:39:22.098] MC:m_current_backoff_gain=0.5
[I 15:39:22.098] MC:m_encoder_counts=8192
[I 15:39:22.098] MC:m_sensor_port_mode=0
[I 15:39:22.099] MC:m_invert_direction=0
[I 15:39:22.099] MC:m_drv8301_oc_mode=0
[I 15:39:22.099] MC:m_drv8301_oc_adj=16
[I 15:39:22.099] MC:m_bldc_f_sw_min=3000
[I 15:39:22.099] MC:m_bldc_f_sw_max=40000
[I 15:39:22.099] MC:m_dc_f_sw=35000
[I 15:39:22.099] MC:m_ntc_motor_beta=3380
[I 15:39:22.100] [confs] readAppConfiguration
[I 15:39:22.100] Ask.appConfGet()
[I 15:39:22.153] Stopping configurations timer
[I 15:39:22.154] [confs] GET_APPCONF reply currentId=1
[I 15:39:22.154] Ask.appConfRead()
[I 15:39:22.155] [ask]: conf does not have signature
[I 15:39:22.155] AC:controller_id=1
[I 15:39:22.155] AC:timeout_msec=1000
[I 15:39:22.156] AC:timeout_brake_current=0
[I 15:39:22.156] AC:send_can_status=1
[I 15:39:22.156] AC:send_can_status_rate_hz=200
[I 15:39:22.156] AC:can_baud_rate=2
[I 15:39:22.156] AC:app_to_use=3
[I 15:39:22.156] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:22.157] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:22.157] AC:app_ppm_conf_hyst=0.15
[I 15:39:22.157] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:22.157] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:22.157] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:22.157] AC:app_ppm_conf_median_filter=1
[I 15:39:22.158] AC:app_ppm_conf_safe_start=1
[I 15:39:22.158] AC:app_ppm_conf_throttle_exp=0.5
[I 15:39:22.158] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:39:22.158] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:39:22.158] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:22.159] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:22.159] AC:app_ppm_conf_multi_esc=1
[I 15:39:22.159] AC:app_ppm_conf_tc=1
[I 15:39:22.159] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:22.160] AC:app_adc_conf_ctrl_type=0
[I 15:39:22.160] AC:app_adc_conf_hyst=0.15
[I 15:39:22.160] AC:app_adc_conf_voltage_start=0.9
[I 15:39:22.160] AC:app_adc_conf_voltage_end=3
[I 15:39:22.161] AC:app_adc_conf_voltage_center=2
[I 15:39:22.161] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:22.161] AC:app_adc_conf_voltage2_end=3
[I 15:39:22.161] AC:app_adc_conf_use_filter=1
[I 15:39:22.161] AC:app_adc_conf_safe_start=1
[I 15:39:22.161] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:22.161] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:22.162] AC:app_adc_conf_voltage_inverted=0
[I 15:39:22.162] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:22.162] AC:app_adc_conf_throttle_exp=0
[I 15:39:22.162] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:22.162] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:22.162] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:22.163] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:22.163] AC:app_adc_conf_multi_esc=0
[I 15:39:22.163] AC:app_adc_conf_tc=0
[I 15:39:22.163] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:22.163] AC:app_adc_conf_update_rate_hz=500
[I 15:39:22.164] AC:app_uart_baudrate=9600
[I 15:39:22.164] AC:app_chuk_conf_ctrl_type=1
[I 15:39:22.164] AC:app_chuk_conf_hyst=0.15
[I 15:39:22.164] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:22.164] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:22.165] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:22.165] AC:app_chuk_conf_throttle_exp=0
[I 15:39:22.165] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:22.165] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:22.165] AC:app_chuk_conf_multi_esc=0
[I 15:39:22.165] AC:app_chuk_conf_tc=0
[I 15:39:22.165] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:22.166] AC:app_nrf_conf_speed=2
[I 15:39:22.166] AC:app_nrf_conf_power=3
[I 15:39:22.166] AC:app_nrf_conf_crc_type=1
[I 15:39:22.166] AC:app_nrf_conf_retry_delay=0
[I 15:39:22.166] AC:app_nrf_conf_retries=3
[I 15:39:22.166] AC:app_nrf_conf_channel=76
[I 15:39:22.167] AC:app_nrf_conf_address=13027072
[I 15:39:22.167] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:22.167] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:22.167] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:22.167] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:22.167] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:22.168] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:22.168] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:22.168] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:22.168] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:22.169] [modes] modifying 2 confs
[I 15:39:22.170] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 15:39:22.171] [modes] Apply conf:l_current_max=70
[I 15:39:22.172] [modes] Apply conf:l_current_min=-70
[I 15:39:22.172] [modes] Apply conf:l_in_current_max=35
[I 15:39:22.172] [modes] Apply conf:l_in_current_min=-7
[I 15:39:22.172] [modes] Apply conf:l_temp_fet_start=85
[I 15:39:22.172] [modes] Apply conf:l_temp_fet_end=100
[I 15:39:22.172] [modes] Apply conf:l_temp_motor_start=85
[I 15:39:22.172] [modes] Apply conf:l_temp_motor_end=100
[I 15:39:22.172] [modes] Apply conf:l_abs_current_max=130
[I 15:39:22.173] [modes] Apply conf:l_min_vin=6
[I 15:39:22.173] [modes] Apply conf:l_max_vin=57
[I 15:39:22.173] [modes] Apply conf:l_battery_cut_start=42
[I 15:39:22.173] [modes] Apply conf:l_battery_cut_end=40
[I 15:39:22.174] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 15:39:22.174] [modes] Apply conf:l_current_max=70
[I 15:39:22.174] [modes] Apply conf:l_current_min=-70
[I 15:39:22.174] [modes] Apply conf:l_in_current_max=35
[I 15:39:22.174] [modes] Apply conf:l_in_current_min=-7
[I 15:39:22.174] [modes] Apply conf:l_temp_fet_start=85
[I 15:39:22.174] [modes] Apply conf:l_temp_fet_end=100
[I 15:39:22.174] [modes] Apply conf:l_temp_motor_start=85
[I 15:39:22.174] [modes] Apply conf:l_temp_motor_end=100
[I 15:39:22.175] [modes] Apply conf:l_abs_current_max=130
[I 15:39:22.175] [modes] Apply conf:l_min_vin=6
[I 15:39:22.175] [modes] Apply conf:l_max_vin=57
[I 15:39:22.175] [modes] Apply conf:l_battery_cut_start=42
[I 15:39:22.175] [modes] Apply conf:l_battery_cut_end=40
[I 15:39:22.187] [confs] write()
[I 15:39:22.187] [confs] writeMotorConfiguration
[I 15:39:22.187] Ask.motorConfWrite()
[I 15:39:22.187] MC:pwm_mode=1
[I 15:39:22.187] MC:comm_mode=0
[I 15:39:22.187] MC:motor_type=2
[I 15:39:22.187] MC:sensor_mode=2
[I 15:39:22.187] MC:l_current_max=70
[I 15:39:22.187] MC:l_current_min=-70
[I 15:39:22.187] MC:l_in_current_max=35
[I 15:39:22.187] MC:l_in_current_min=-7
[I 15:39:22.187] MC:l_abs_current_max=130
[I 15:39:22.187] MC:l_min_erpm=-60000
[I 15:39:22.187] MC:l_max_erpm=49019.76387752697
[I 15:39:22.187] MC:l_erpm_start=0.8
[I 15:39:22.187] MC:l_max_erpm_fbrake=300
[I 15:39:22.187] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:22.187] MC:l_min_vin=6
[I 15:39:22.187] MC:l_max_vin=57
[I 15:39:22.187] MC:l_battery_cut_start=42
[I 15:39:22.187] MC:l_battery_cut_end=40
[I 15:39:22.187] MC:l_slow_abs_current=1
[I 15:39:22.187] MC:l_temp_fet_start=85
[I 15:39:22.187] MC:l_temp_fet_end=100
[I 15:39:22.187] MC:l_temp_motor_start=85
[I 15:39:22.187] MC:l_temp_motor_end=100
[I 15:39:22.187] MC:l_temp_accel_dec=0.1
[I 15:39:22.188] MC:l_min_duty=0.005
[I 15:39:22.188] MC:l_max_duty=0.95
[I 15:39:22.188] MC:l_watt_max=1.5e+06
[I 15:39:22.188] MC:l_watt_min=-1.5e+06
[I 15:39:22.188] MC:sl_min_erpm=150
[I 15:39:22.188] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:22.188] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:22.188] MC:sl_cycle_int_limit=62
[I 15:39:22.188] MC:sl_phase_advance_at_br=0.8
[I 15:39:22.188] MC:sl_cycle_int_rpm_br=80000
[I 15:39:22.188] MC:sl_bemf_coupling_k=600
[I 15:39:22.188] MC:hall_table_0=255
[I 15:39:22.188] MC:hall_table_1=1
[I 15:39:22.188] MC:hall_table_2=3
[I 15:39:22.188] MC:hall_table_3=2
[I 15:39:22.188] MC:hall_table_4=5
[I 15:39:22.188] MC:hall_table_5=6
[I 15:39:22.188] MC:hall_table_6=4
[I 15:39:22.188] MC:hall_table_7=255
[I 15:39:22.188] MC:hall_sl_erpm=2000
[I 15:39:22.188] MC:foc_current_kp=0.0044
[I 15:39:22.188] MC:foc_current_ki=13.95
[I 15:39:22.188] MC:foc_f_sw=20000
[I 15:39:22.188] MC:foc_dt_us=0.08
[I 15:39:22.188] MC:foc_encoder_inverted=0
[I 15:39:22.188] MC:foc_encoder_offset=180
[I 15:39:22.188] MC:foc_encoder_ratio=7
[I 15:39:22.188] MC:foc_sensor_mode=2
[I 15:39:22.188] MC:foc_pll_kp=2000
[I 15:39:22.188] MC:foc_pll_ki=40000
[I 15:39:22.188] MC:foc_motor_l=4.37e-06
[I 15:39:22.188] MC:foc_motor_r=0.0139
[I 15:39:22.188] MC:foc_motor_flux_linkage=0.004444
[I 15:39:22.188] MC:foc_observer_gain=5.064e+07
[I 15:39:22.188] MC:foc_observer_gain_slow=0.3
[I 15:39:22.188] MC:foc_duty_dowmramp_kp=10
[I 15:39:22.188] MC:foc_duty_dowmramp_ki=200
[I 15:39:22.188] MC:foc_openloop_rpm=400
[I 15:39:22.188] MC:foc_sl_openloop_hyst=0.1
[I 15:39:22.188] MC:foc_sl_openloop_time=0.1
[I 15:39:22.188] MC:foc_sl_d_current_duty=0
[I 15:39:22.188] MC:foc_sl_d_current_factor=0
[I 15:39:22.188] MC:foc_hall_table0=255
[I 15:39:22.188] MC:foc_hall_table1=86
[I 15:39:22.188] MC:foc_hall_table2=17
[I 15:39:22.188] MC:foc_hall_table3=56
[I 15:39:22.188] MC:foc_hall_table4=155
[I 15:39:22.188] MC:foc_hall_table5=119
[I 15:39:22.188] MC:foc_hall_table6=183
[I 15:39:22.188] MC:foc_hall_table7=255
[I 15:39:22.188] MC:foc_sl_erpm=2500
[I 15:39:22.188] MC:foc_sample_v0_v7=0
[I 15:39:22.188] MC:foc_sample_high_current=0
[I 15:39:22.188] MC:foc_sat_comp=0
[I 15:39:22.188] MC:foc_temp_comp=0
[I 15:39:22.188] MC:foc_temp_comp_base_temp=25
[I 15:39:22.188] MC:foc_current_filter_const=0.1
[I 15:39:22.188] MC:s_pid_kp=0.002
[I 15:39:22.188] MC:s_pid_ki=0.002
[I 15:39:22.188] MC:s_pid_kd=0
[I 15:39:22.188] MC:s_pid_kd_filter=0.2
[I 15:39:22.188] MC:s_pid_min_rpm=900
[I 15:39:22.188] MC:s_pid_allow_braking=1
[I 15:39:22.188] MC:p_pid_kp=0.03
[I 15:39:22.188] MC:p_pid_ki=0
[I 15:39:22.188] MC:p_pid_kd=0.0004
[I 15:39:22.188] MC:p_pid_kd_filter=0.2
[I 15:39:22.188] MC:p_pid_ang_div=1
[I 15:39:22.188] MC:cc_startup_boost_duty=0.01
[I 15:39:22.188] MC:cc_min_current=0.1
[I 15:39:22.188] MC:cc_gain=0.0046
[I 15:39:22.188] MC:cc_ramp_step_max=0.04
[I 15:39:22.188] MC:m_fault_stop_time_ms=500
[I 15:39:22.188] MC:m_duty_ramp_step=0.02
[I 15:39:22.188] MC:m_current_backoff_gain=0.5
[I 15:39:22.188] MC:m_encoder_counts=8192
[I 15:39:22.188] MC:m_sensor_port_mode=0
[I 15:39:22.188] MC:m_invert_direction=0
[I 15:39:22.188] MC:m_drv8301_oc_mode=0
[I 15:39:22.188] MC:m_drv8301_oc_adj=16
[I 15:39:22.188] MC:m_bldc_f_sw_min=3000
[I 15:39:22.188] MC:m_bldc_f_sw_max=40000
[I 15:39:22.188] MC:m_dc_f_sw=35000
[I 15:39:22.188] MC:m_ntc_motor_beta=3380
[I 15:39:22.729] Stopping configurations timer
[I 15:39:22.729] [confs] SET_MCCONF reply currentId=0
[I 15:39:22.731] Ask.appConfWrite()
[I 15:39:22.731] AC:controller_id=0
[I 15:39:22.731] AC:timeout_msec=1000
[I 15:39:22.731] AC:timeout_brake_current=0
[I 15:39:22.731] AC:send_can_status=1
[I 15:39:22.731] AC:send_can_status_rate_hz=200
[I 15:39:22.731] AC:can_baud_rate=2
[I 15:39:22.731] AC:app_to_use=4
[I 15:39:22.731] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:22.731] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:22.732] AC:app_ppm_conf_hyst=0.15
[I 15:39:22.732] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:22.732] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:22.732] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:22.732] AC:app_ppm_conf_median_filter=1
[I 15:39:22.732] AC:app_ppm_conf_safe_start=1
[I 15:39:22.732] AC:app_ppm_conf_throttle_exp=0.85
[I 15:39:22.732] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:39:22.732] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:39:22.732] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:22.732] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:22.732] AC:app_ppm_conf_multi_esc=1
[I 15:39:22.732] AC:app_ppm_conf_tc=1
[I 15:39:22.732] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:22.732] AC:app_adc_conf_ctrl_type=0
[I 15:39:22.733] AC:app_adc_conf_hyst=0.15
[I 15:39:22.733] AC:app_adc_conf_voltage_start=0.9
[I 15:39:22.733] AC:app_adc_conf_voltage_end=3
[I 15:39:22.733] AC:app_adc_conf_voltage_center=2
[I 15:39:22.733] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:22.733] AC:app_adc_conf_voltage2_end=3
[I 15:39:22.733] AC:app_adc_conf_use_filter=1
[I 15:39:22.733] AC:app_adc_conf_safe_start=1
[I 15:39:22.733] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:22.733] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:22.733] AC:app_adc_conf_voltage_inverted=0
[I 15:39:22.733] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:22.733] AC:app_adc_conf_throttle_exp=0
[I 15:39:22.733] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:22.733] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:22.733] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:22.734] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:22.734] AC:app_adc_conf_multi_esc=0
[I 15:39:22.734] AC:app_adc_conf_tc=0
[I 15:39:22.734] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:22.734] AC:app_adc_conf_update_rate_hz=500
[I 15:39:22.734] AC:app_uart_baudrate=115200
[I 15:39:22.734] AC:app_chuk_conf_ctrl_type=1
[I 15:39:22.734] AC:app_chuk_conf_hyst=0.15
[I 15:39:22.734] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:22.734] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:22.734] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:22.734] AC:app_chuk_conf_throttle_exp=0
[I 15:39:22.734] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:22.734] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:22.735] AC:app_chuk_conf_multi_esc=0
[I 15:39:22.735] AC:app_chuk_conf_tc=0
[I 15:39:22.735] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:22.735] AC:app_nrf_conf_speed=2
[I 15:39:22.735] AC:app_nrf_conf_power=3
[I 15:39:22.735] AC:app_nrf_conf_crc_type=1
[I 15:39:22.735] AC:app_nrf_conf_retry_delay=0
[I 15:39:22.735] AC:app_nrf_conf_retries=3
[I 15:39:22.735] AC:app_nrf_conf_channel=76
[I 15:39:22.735] AC:app_nrf_conf_address=13027072
[I 15:39:22.735] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:22.736] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:22.736] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:22.736] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:22.736] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:22.736] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:22.736] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:22.736] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:22.736] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:23.238] Stopping configurations timer
[I 15:39:23.238] [confs] SET_APPCONF reply currentId=0
[I 15:39:23.239] [confs] writeMotorConfiguration
[I 15:39:23.239] Ask.motorConfWrite()
[I 15:39:23.240] MC:pwm_mode=1
[I 15:39:23.240] MC:comm_mode=0
[I 15:39:23.240] MC:motor_type=2
[I 15:39:23.240] MC:sensor_mode=2
[I 15:39:23.241] MC:l_current_max=70
[I 15:39:23.241] MC:l_current_min=-70
[I 15:39:23.241] MC:l_in_current_max=35
[I 15:39:23.241] MC:l_in_current_min=-7
[I 15:39:23.241] MC:l_abs_current_max=130
[I 15:39:23.241] MC:l_min_erpm=-60000
[I 15:39:23.241] MC:l_max_erpm=49019.76387752697
[I 15:39:23.241] MC:l_erpm_start=0.8
[I 15:39:23.242] MC:l_max_erpm_fbrake=300
[I 15:39:23.242] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:23.242] MC:l_min_vin=6
[I 15:39:23.242] MC:l_max_vin=57
[I 15:39:23.242] MC:l_battery_cut_start=42
[I 15:39:23.242] MC:l_battery_cut_end=40
[I 15:39:23.242] MC:l_slow_abs_current=1
[I 15:39:23.242] MC:l_temp_fet_start=85
[I 15:39:23.243] MC:l_temp_fet_end=100
[I 15:39:23.243] MC:l_temp_motor_start=85
[I 15:39:23.243] MC:l_temp_motor_end=100
[I 15:39:23.243] MC:l_temp_accel_dec=0.1
[I 15:39:23.243] MC:l_min_duty=0.005
[I 15:39:23.243] MC:l_max_duty=0.95
[I 15:39:23.244] MC:l_watt_max=1.5e+06
[I 15:39:23.244] MC:l_watt_min=-1.5e+06
[I 15:39:23.244] MC:sl_min_erpm=150
[I 15:39:23.244] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:23.244] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:23.244] MC:sl_cycle_int_limit=62
[I 15:39:23.244] MC:sl_phase_advance_at_br=0.8
[I 15:39:23.244] MC:sl_cycle_int_rpm_br=80000
[I 15:39:23.245] MC:sl_bemf_coupling_k=600
[I 15:39:23.245] MC:hall_table_0=255
[I 15:39:23.245] MC:hall_table_1=1
[I 15:39:23.245] MC:hall_table_2=3
[I 15:39:23.245] MC:hall_table_3=2
[I 15:39:23.245] MC:hall_table_4=5
[I 15:39:23.245] MC:hall_table_5=6
[I 15:39:23.245] MC:hall_table_6=4
[I 15:39:23.246] MC:hall_table_7=255
[I 15:39:23.246] MC:hall_sl_erpm=2000
[I 15:39:23.246] MC:foc_current_kp=0.005
[I 15:39:23.246] MC:foc_current_ki=13.65
[I 15:39:23.246] MC:foc_f_sw=20000
[I 15:39:23.246] MC:foc_dt_us=0.08
[I 15:39:23.246] MC:foc_encoder_inverted=0
[I 15:39:23.246] MC:foc_encoder_offset=180
[I 15:39:23.247] MC:foc_encoder_ratio=7
[I 15:39:23.247] MC:foc_sensor_mode=2
[I 15:39:23.247] MC:foc_pll_kp=2000
[I 15:39:23.247] MC:foc_pll_ki=40000
[I 15:39:23.247] MC:foc_motor_l=4.96e-06
[I 15:39:23.247] MC:foc_motor_r=0.0137
[I 15:39:23.247] MC:foc_motor_flux_linkage=0.004425
[I 15:39:23.247] MC:foc_observer_gain=5.107e+07
[I 15:39:23.247] MC:foc_observer_gain_slow=0.3
[I 15:39:23.248] MC:foc_duty_dowmramp_kp=10
[I 15:39:23.248] MC:foc_duty_dowmramp_ki=200
[I 15:39:23.248] MC:foc_openloop_rpm=400
[I 15:39:23.248] MC:foc_sl_openloop_hyst=0.1
[I 15:39:23.248] MC:foc_sl_openloop_time=0.1
[I 15:39:23.249] MC:foc_sl_d_current_duty=0
[I 15:39:23.249] MC:foc_sl_d_current_factor=0
[I 15:39:23.249] MC:foc_hall_table0=255
[I 15:39:23.249] MC:foc_hall_table1=52
[I 15:39:23.249] MC:foc_hall_table2=115
[I 15:39:23.249] MC:foc_hall_table3=82
[I 15:39:23.249] MC:foc_hall_table4=179
[I 15:39:23.249] MC:foc_hall_table5=15
[I 15:39:23.249] MC:foc_hall_table6=149
[I 15:39:23.250] MC:foc_hall_table7=255
[I 15:39:23.250] MC:foc_sl_erpm=2500
[I 15:39:23.250] MC:foc_sample_v0_v7=0
[I 15:39:23.250] MC:foc_sample_high_current=0
[I 15:39:23.250] MC:foc_sat_comp=0
[I 15:39:23.250] MC:foc_temp_comp=0
[I 15:39:23.250] MC:foc_temp_comp_base_temp=25
[I 15:39:23.250] MC:foc_current_filter_const=0.1
[I 15:39:23.250] MC:s_pid_kp=0.002
[I 15:39:23.250] MC:s_pid_ki=0.002
[I 15:39:23.250] MC:s_pid_kd=0
[I 15:39:23.250] MC:s_pid_kd_filter=0.2
[I 15:39:23.250] MC:s_pid_min_rpm=900
[I 15:39:23.250] MC:s_pid_allow_braking=1
[I 15:39:23.250] MC:p_pid_kp=0.03
[I 15:39:23.250] MC:p_pid_ki=0
[I 15:39:23.250] MC:p_pid_kd=0.0004
[I 15:39:23.250] MC:p_pid_kd_filter=0.2
[I 15:39:23.250] MC:p_pid_ang_div=1
[I 15:39:23.250] MC:cc_startup_boost_duty=0.01
[I 15:39:23.250] MC:cc_min_current=0.1
[I 15:39:23.250] MC:cc_gain=0.0046
[I 15:39:23.250] MC:cc_ramp_step_max=0.04
[I 15:39:23.250] MC:m_fault_stop_time_ms=500
[I 15:39:23.250] MC:m_duty_ramp_step=0.02
[I 15:39:23.250] MC:m_current_backoff_gain=0.5
[I 15:39:23.250] MC:m_encoder_counts=8192
[I 15:39:23.250] MC:m_sensor_port_mode=0
[I 15:39:23.250] MC:m_invert_direction=0
[I 15:39:23.250] MC:m_drv8301_oc_mode=0
[I 15:39:23.250] MC:m_drv8301_oc_adj=16
[I 15:39:23.250] MC:m_bldc_f_sw_min=3000
[I 15:39:23.251] MC:m_bldc_f_sw_max=40000
[I 15:39:23.251] MC:m_dc_f_sw=35000
[I 15:39:23.251] MC:m_ntc_motor_beta=3380
[I 15:39:24.041] Stopping configurations timer
[I 15:39:24.041] [confs] SET_MCCONF reply currentId=1
[I 15:39:24.041] Ask.appConfWrite()
[I 15:39:24.042] AC:controller_id=1
[I 15:39:24.042] AC:timeout_msec=1000
[I 15:39:24.042] AC:timeout_brake_current=0
[I 15:39:24.042] AC:send_can_status=1
[I 15:39:24.042] AC:send_can_status_rate_hz=200
[I 15:39:24.042] AC:can_baud_rate=2
[I 15:39:24.042] AC:app_to_use=3
[I 15:39:24.042] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:24.042] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:24.043] AC:app_ppm_conf_hyst=0.15
[I 15:39:24.043] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:24.043] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:24.043] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:24.043] AC:app_ppm_conf_median_filter=1
[I 15:39:24.043] AC:app_ppm_conf_safe_start=1
[I 15:39:24.043] AC:app_ppm_conf_throttle_exp=0.5
[I 15:39:24.043] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:39:24.043] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:39:24.043] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:24.043] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:24.043] AC:app_ppm_conf_multi_esc=1
[I 15:39:24.044] AC:app_ppm_conf_tc=1
[I 15:39:24.044] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:24.044] AC:app_adc_conf_ctrl_type=0
[I 15:39:24.044] AC:app_adc_conf_hyst=0.15
[I 15:39:24.044] AC:app_adc_conf_voltage_start=0.9
[I 15:39:24.044] AC:app_adc_conf_voltage_end=3
[I 15:39:24.044] AC:app_adc_conf_voltage_center=2
[I 15:39:24.044] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:24.044] AC:app_adc_conf_voltage2_end=3
[I 15:39:24.044] AC:app_adc_conf_use_filter=1
[I 15:39:24.044] AC:app_adc_conf_safe_start=1
[I 15:39:24.044] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:24.044] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:24.044] AC:app_adc_conf_voltage_inverted=0
[I 15:39:24.045] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:24.045] AC:app_adc_conf_throttle_exp=0
[I 15:39:24.045] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:24.045] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:24.045] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:24.045] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:24.045] AC:app_adc_conf_multi_esc=0
[I 15:39:24.045] AC:app_adc_conf_tc=0
[I 15:39:24.045] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:24.045] AC:app_adc_conf_update_rate_hz=500
[I 15:39:24.045] AC:app_uart_baudrate=9600
[I 15:39:24.045] AC:app_chuk_conf_ctrl_type=1
[I 15:39:24.045] AC:app_chuk_conf_hyst=0.15
[I 15:39:24.045] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:24.045] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:24.046] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:24.046] AC:app_chuk_conf_throttle_exp=0
[I 15:39:24.046] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:24.046] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:24.046] AC:app_chuk_conf_multi_esc=0
[I 15:39:24.046] AC:app_chuk_conf_tc=0
[I 15:39:24.046] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:24.046] AC:app_nrf_conf_speed=2
[I 15:39:24.046] AC:app_nrf_conf_power=3
[I 15:39:24.046] AC:app_nrf_conf_crc_type=1
[I 15:39:24.046] AC:app_nrf_conf_retry_delay=0
[I 15:39:24.046] AC:app_nrf_conf_retries=3
[I 15:39:24.046] AC:app_nrf_conf_channel=76
[I 15:39:24.047] AC:app_nrf_conf_address=13027072
[I 15:39:24.047] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:24.047] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:24.047] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:24.047] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:24.047] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:24.047] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:24.047] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:24.047] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:24.047] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:24.490] Stopping configurations timer
[I 15:39:24.491] [confs] SET_APPCONF reply currentId=1
[I 15:39:24.492] [modes] Finishing apply, applied=true
[I 15:39:24.493] [mm] save()
[I 15:39:24.522] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:24.522] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:24.522] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"18","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:24.523] void Settings::endGroup()
[I 15:39:25.514] [modes] editing mode lipo legal
[I 15:39:27.927] M:max_speed, was=18 is=1
[I 15:39:27.929] [mm] save()
[I 15:39:27.947] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:27.947] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:27.947] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"1","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:27.947] void Settings::endGroup()
[I 15:39:30.414] M:max_speed, was=1 is=7
[I 15:39:30.416] [mm] save()
[I 15:39:30.446] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:30.446] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:30.446] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"7","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:30.446] void Settings::endGroup()
[I 15:39:32.219] [modes] Updating summary for 'lipo legal'
[I 15:39:33.853] createMotorConf FW 3.103
[I 15:39:33.853] [modes] Applying 'lipo legal'
[I 15:39:33.853] [confs] Initializing 2 configuration containers
[I 15:39:33.854] createMotorConf FW 3.103
[I 15:39:33.854] createMotorConf FW 3.103
[I 15:39:33.856] [confs] read()
[I 15:39:33.856] createMotorConf FW 3.103
[I 15:39:33.857] [confs] readMotorConfiguration
[I 15:39:33.857] Ask.motorConfGet()
[I 15:39:34.010] Stopping configurations timer
[I 15:39:34.010] [confs] GET_MCCONF reply currentId=0
[I 15:39:34.010] Ask.motorConfRead()
[I 15:39:34.010] [ask]: conf does not have signature
[I 15:39:34.011] MC:pwm_mode=1
[I 15:39:34.011] MC:comm_mode=0
[I 15:39:34.011] MC:motor_type=2
[I 15:39:34.011] MC:sensor_mode=2
[I 15:39:34.011] MC:l_current_max=70
[I 15:39:34.011] MC:l_current_min=-70
[I 15:39:34.011] MC:l_in_current_max=35
[I 15:39:34.011] MC:l_in_current_min=-7
[I 15:39:34.012] MC:l_abs_current_max=130
[I 15:39:34.012] MC:l_min_erpm=-60000
[I 15:39:34.012] MC:l_max_erpm=49019.8
[I 15:39:34.012] MC:l_erpm_start=0.8
[I 15:39:34.012] MC:l_max_erpm_fbrake=300
[I 15:39:34.012] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:34.013] MC:l_min_vin=6
[I 15:39:34.013] MC:l_max_vin=57
[I 15:39:34.013] MC:l_battery_cut_start=42
[I 15:39:34.015] MC:l_battery_cut_end=40
[I 15:39:34.015] MC:l_slow_abs_current=1
[I 15:39:34.015] MC:l_temp_fet_start=85
[I 15:39:34.015] MC:l_temp_fet_end=100
[I 15:39:34.016] MC:l_temp_motor_start=85
[I 15:39:34.016] MC:l_temp_motor_end=100
[I 15:39:34.016] MC:l_temp_accel_dec=0.1
[I 15:39:34.016] MC:l_min_duty=0.005
[I 15:39:34.016] MC:l_max_duty=0.95
[I 15:39:34.016] MC:l_watt_max=1.5e+06
[I 15:39:34.016] MC:l_watt_min=-1.5e+06
[I 15:39:34.016] MC:sl_min_erpm=150
[I 15:39:34.017] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:34.017] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:34.017] MC:sl_cycle_int_limit=62
[I 15:39:34.017] MC:sl_phase_advance_at_br=0.8
[I 15:39:34.017] MC:sl_cycle_int_rpm_br=80000
[I 15:39:34.017] MC:sl_bemf_coupling_k=600
[I 15:39:34.017] MC:hall_table_0=255
[I 15:39:34.017] MC:hall_table_1=1
[I 15:39:34.018] MC:hall_table_2=3
[I 15:39:34.018] MC:hall_table_3=2
[I 15:39:34.018] MC:hall_table_4=5
[I 15:39:34.018] MC:hall_table_5=6
[I 15:39:34.018] MC:hall_table_6=4
[I 15:39:34.018] MC:hall_table_7=255
[I 15:39:34.018] MC:hall_sl_erpm=2000
[I 15:39:34.018] MC:foc_current_kp=0.0044
[I 15:39:34.019] MC:foc_current_ki=13.95
[I 15:39:34.019] MC:foc_f_sw=20000
[I 15:39:34.019] MC:foc_dt_us=0.08
[I 15:39:34.019] MC:foc_encoder_inverted=0
[I 15:39:34.019] MC:foc_encoder_offset=180
[I 15:39:34.019] MC:foc_encoder_ratio=7
[I 15:39:34.019] MC:foc_sensor_mode=2
[I 15:39:34.019] MC:foc_pll_kp=2000
[I 15:39:34.020] MC:foc_pll_ki=40000
[I 15:39:34.020] MC:foc_motor_l=4.37e-06
[I 15:39:34.020] MC:foc_motor_r=0.0139
[I 15:39:34.020] MC:foc_motor_flux_linkage=0.004444
[I 15:39:34.020] MC:foc_observer_gain=5.064e+07
[I 15:39:34.020] MC:foc_observer_gain_slow=0.3
[I 15:39:34.020] MC:foc_duty_dowmramp_kp=10
[I 15:39:34.020] MC:foc_duty_dowmramp_ki=200
[I 15:39:34.020] MC:foc_openloop_rpm=400
[I 15:39:34.021] MC:foc_sl_openloop_hyst=0.1
[I 15:39:34.021] MC:foc_sl_openloop_time=0.1
[I 15:39:34.021] MC:foc_sl_d_current_duty=0
[I 15:39:34.021] MC:foc_sl_d_current_factor=0
[I 15:39:34.021] MC:foc_hall_table0=255
[I 15:39:34.021] MC:foc_hall_table1=86
[I 15:39:34.021] MC:foc_hall_table2=17
[I 15:39:34.021] MC:foc_hall_table3=56
[I 15:39:34.021] MC:foc_hall_table4=155
[I 15:39:34.021] MC:foc_hall_table5=119
[I 15:39:34.021] MC:foc_hall_table6=183
[I 15:39:34.021] MC:foc_hall_table7=255
[I 15:39:34.021] MC:foc_sl_erpm=2500
[I 15:39:34.022] MC:foc_sample_v0_v7=0
[I 15:39:34.022] MC:foc_sample_high_current=0
[I 15:39:34.022] MC:foc_sat_comp=0
[I 15:39:34.022] MC:foc_temp_comp=0
[I 15:39:34.022] MC:foc_temp_comp_base_temp=25
[I 15:39:34.022] MC:foc_current_filter_const=0.1
[I 15:39:34.022] MC:s_pid_kp=0.002
[I 15:39:34.022] MC:s_pid_ki=0.002
[I 15:39:34.022] MC:s_pid_kd=0
[I 15:39:34.022] MC:s_pid_kd_filter=0.2
[I 15:39:34.022] MC:s_pid_min_rpm=900
[I 15:39:34.022] MC:s_pid_allow_braking=1
[I 15:39:34.023] MC:p_pid_kp=0.03
[I 15:39:34.023] MC:p_pid_ki=0
[I 15:39:34.023] MC:p_pid_kd=0.0004
[I 15:39:34.023] MC:p_pid_kd_filter=0.2
[I 15:39:34.023] MC:p_pid_ang_div=1
[I 15:39:34.023] MC:cc_startup_boost_duty=0.01
[I 15:39:34.023] MC:cc_min_current=0.1
[I 15:39:34.023] MC:cc_gain=0.0046
[I 15:39:34.023] MC:cc_ramp_step_max=0.04
[I 15:39:34.023] MC:m_fault_stop_time_ms=500
[I 15:39:34.023] MC:m_duty_ramp_step=0.02
[I 15:39:34.024] MC:m_current_backoff_gain=0.5
[I 15:39:34.024] MC:m_encoder_counts=8192
[I 15:39:34.024] MC:m_sensor_port_mode=0
[I 15:39:34.024] MC:m_invert_direction=0
[I 15:39:34.024] MC:m_drv8301_oc_mode=0
[I 15:39:34.024] MC:m_drv8301_oc_adj=16
[I 15:39:34.024] MC:m_bldc_f_sw_min=3000
[I 15:39:34.024] MC:m_bldc_f_sw_max=40000
[I 15:39:34.024] MC:m_dc_f_sw=35000
[I 15:39:34.024] MC:m_ntc_motor_beta=3380
[I 15:39:34.025] [confs] readAppConfiguration
[I 15:39:34.025] Ask.appConfGet()
[I 15:39:34.090] Stopping configurations timer
[I 15:39:34.091] [confs] GET_APPCONF reply currentId=0
[I 15:39:34.091] Ask.appConfRead()
[I 15:39:34.091] [ask]: conf does not have signature
[I 15:39:34.091] AC:controller_id=0
[I 15:39:34.092] AC:timeout_msec=1000
[I 15:39:34.092] AC:timeout_brake_current=0
[I 15:39:34.092] AC:send_can_status=1
[I 15:39:34.092] AC:send_can_status_rate_hz=200
[I 15:39:34.092] AC:can_baud_rate=2
[I 15:39:34.092] AC:app_to_use=4
[I 15:39:34.093] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:34.093] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:34.093] AC:app_ppm_conf_hyst=0.15
[I 15:39:34.093] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:34.093] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:34.094] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:34.094] AC:app_ppm_conf_median_filter=1
[I 15:39:34.094] AC:app_ppm_conf_safe_start=1
[I 15:39:34.094] AC:app_ppm_conf_throttle_exp=0.85
[I 15:39:34.094] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:39:34.094] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:39:34.095] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:34.095] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:34.095] AC:app_ppm_conf_multi_esc=1
[I 15:39:34.095] AC:app_ppm_conf_tc=1
[I 15:39:34.095] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:34.095] AC:app_adc_conf_ctrl_type=0
[I 15:39:34.096] AC:app_adc_conf_hyst=0.15
[I 15:39:34.096] AC:app_adc_conf_voltage_start=0.9
[I 15:39:34.096] AC:app_adc_conf_voltage_end=3
[I 15:39:34.096] AC:app_adc_conf_voltage_center=2
[I 15:39:34.096] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:34.096] AC:app_adc_conf_voltage2_end=3
[I 15:39:34.097] AC:app_adc_conf_use_filter=1
[I 15:39:34.097] AC:app_adc_conf_safe_start=1
[I 15:39:34.097] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:34.097] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:34.097] AC:app_adc_conf_voltage_inverted=0
[I 15:39:34.097] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:34.097] AC:app_adc_conf_throttle_exp=0
[I 15:39:34.097] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:34.097] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:34.098] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:34.098] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:34.098] AC:app_adc_conf_multi_esc=0
[I 15:39:34.098] AC:app_adc_conf_tc=0
[I 15:39:34.098] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:34.098] AC:app_adc_conf_update_rate_hz=500
[I 15:39:34.098] AC:app_uart_baudrate=115200
[I 15:39:34.098] AC:app_chuk_conf_ctrl_type=1
[I 15:39:34.098] AC:app_chuk_conf_hyst=0.15
[I 15:39:34.098] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:34.099] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:34.099] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:34.099] AC:app_chuk_conf_throttle_exp=0
[I 15:39:34.099] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:34.099] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:34.099] AC:app_chuk_conf_multi_esc=0
[I 15:39:34.099] AC:app_chuk_conf_tc=0
[I 15:39:34.099] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:34.099] AC:app_nrf_conf_speed=2
[I 15:39:34.099] AC:app_nrf_conf_power=3
[I 15:39:34.099] AC:app_nrf_conf_crc_type=1
[I 15:39:34.099] AC:app_nrf_conf_retry_delay=0
[I 15:39:34.099] AC:app_nrf_conf_retries=3
[I 15:39:34.100] AC:app_nrf_conf_channel=76
[I 15:39:34.100] AC:app_nrf_conf_address=13027072
[I 15:39:34.100] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:34.100] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:34.100] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:34.100] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:34.100] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:34.100] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:34.100] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:34.100] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:34.101] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:34.101] [confs] readMotorConfiguration
[I 15:39:34.102] Ask.motorConfGet()
[I 15:39:34.238] Stopping configurations timer
[I 15:39:34.239] [confs] GET_MCCONF reply currentId=1
[I 15:39:34.239] Ask.motorConfRead()
[I 15:39:34.239] [ask]: conf does not have signature
[I 15:39:34.239] MC:pwm_mode=1
[I 15:39:34.240] MC:comm_mode=0
[I 15:39:34.240] MC:motor_type=2
[I 15:39:34.240] MC:sensor_mode=2
[I 15:39:34.241] MC:l_current_max=70
[I 15:39:34.241] MC:l_current_min=-70
[I 15:39:34.241] MC:l_in_current_max=35
[I 15:39:34.241] MC:l_in_current_min=-7
[I 15:39:34.241] MC:l_abs_current_max=130
[I 15:39:34.241] MC:l_min_erpm=-60000
[I 15:39:34.241] MC:l_max_erpm=49019.8
[I 15:39:34.242] MC:l_erpm_start=0.8
[I 15:39:34.242] MC:l_max_erpm_fbrake=300
[I 15:39:34.242] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:34.242] MC:l_min_vin=6
[I 15:39:34.242] MC:l_max_vin=57
[I 15:39:34.242] MC:l_battery_cut_start=42
[I 15:39:34.242] MC:l_battery_cut_end=40
[I 15:39:34.242] MC:l_slow_abs_current=1
[I 15:39:34.242] MC:l_temp_fet_start=85
[I 15:39:34.243] MC:l_temp_fet_end=100
[I 15:39:34.243] MC:l_temp_motor_start=85
[I 15:39:34.243] MC:l_temp_motor_end=100
[I 15:39:34.243] MC:l_temp_accel_dec=0.1
[I 15:39:34.243] MC:l_min_duty=0.005
[I 15:39:34.243] MC:l_max_duty=0.95
[I 15:39:34.243] MC:l_watt_max=1.5e+06
[I 15:39:34.243] MC:l_watt_min=-1.5e+06
[I 15:39:34.244] MC:sl_min_erpm=150
[I 15:39:34.244] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:34.244] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:34.244] MC:sl_cycle_int_limit=62
[I 15:39:34.244] MC:sl_phase_advance_at_br=0.8
[I 15:39:34.244] MC:sl_cycle_int_rpm_br=80000
[I 15:39:34.244] MC:sl_bemf_coupling_k=600
[I 15:39:34.244] MC:hall_table_0=255
[I 15:39:34.245] MC:hall_table_1=1
[I 15:39:34.245] MC:hall_table_2=3
[I 15:39:34.245] MC:hall_table_3=2
[I 15:39:34.245] MC:hall_table_4=5
[I 15:39:34.245] MC:hall_table_5=6
[I 15:39:34.245] MC:hall_table_6=4
[I 15:39:34.245] MC:hall_table_7=255
[I 15:39:34.245] MC:hall_sl_erpm=2000
[I 15:39:34.245] MC:foc_current_kp=0.005
[I 15:39:34.245] MC:foc_current_ki=13.65
[I 15:39:34.245] MC:foc_f_sw=20000
[I 15:39:34.246] MC:foc_dt_us=0.08
[I 15:39:34.246] MC:foc_encoder_inverted=0
[I 15:39:34.246] MC:foc_encoder_offset=180
[I 15:39:34.246] MC:foc_encoder_ratio=7
[I 15:39:34.246] MC:foc_sensor_mode=2
[I 15:39:34.246] MC:foc_pll_kp=2000
[I 15:39:34.246] MC:foc_pll_ki=40000
[I 15:39:34.247] MC:foc_motor_l=4.96e-06
[I 15:39:34.247] MC:foc_motor_r=0.0137
[I 15:39:34.247] MC:foc_motor_flux_linkage=0.004425
[I 15:39:34.247] MC:foc_observer_gain=5.107e+07
[I 15:39:34.247] MC:foc_observer_gain_slow=0.3
[I 15:39:34.247] MC:foc_duty_dowmramp_kp=10
[I 15:39:34.247] MC:foc_duty_dowmramp_ki=200
[I 15:39:34.247] MC:foc_openloop_rpm=400
[I 15:39:34.247] MC:foc_sl_openloop_hyst=0.1
[I 15:39:34.248] MC:foc_sl_openloop_time=0.1
[I 15:39:34.248] MC:foc_sl_d_current_duty=0
[I 15:39:34.248] MC:foc_sl_d_current_factor=0
[I 15:39:34.248] MC:foc_hall_table0=255
[I 15:39:34.248] MC:foc_hall_table1=52
[I 15:39:34.248] MC:foc_hall_table2=115
[I 15:39:34.248] MC:foc_hall_table3=82
[I 15:39:34.248] MC:foc_hall_table4=179
[I 15:39:34.248] MC:foc_hall_table5=15
[I 15:39:34.248] MC:foc_hall_table6=149
[I 15:39:34.249] MC:foc_hall_table7=255
[I 15:39:34.249] MC:foc_sl_erpm=2500
[I 15:39:34.249] MC:foc_sample_v0_v7=0
[I 15:39:34.249] MC:foc_sample_high_current=0
[I 15:39:34.249] MC:foc_sat_comp=0
[I 15:39:34.249] MC:foc_temp_comp=0
[I 15:39:34.249] MC:foc_temp_comp_base_temp=25
[I 15:39:34.249] MC:foc_current_filter_const=0.1
[I 15:39:34.249] MC:s_pid_kp=0.002
[I 15:39:34.249] MC:s_pid_ki=0.002
[I 15:39:34.250] MC:s_pid_kd=0
[I 15:39:34.250] MC:s_pid_kd_filter=0.2
[I 15:39:34.250] MC:s_pid_min_rpm=900
[I 15:39:34.250] MC:s_pid_allow_braking=1
[I 15:39:34.250] MC:p_pid_kp=0.03
[I 15:39:34.250] MC:p_pid_ki=0
[I 15:39:34.250] MC:p_pid_kd=0.0004
[I 15:39:34.250] MC:p_pid_kd_filter=0.2
[I 15:39:34.250] MC:p_pid_ang_div=1
[I 15:39:34.250] MC:cc_startup_boost_duty=0.01
[I 15:39:34.250] MC:cc_min_current=0.1
[I 15:39:34.250] MC:cc_gain=0.0046
[I 15:39:34.251] MC:cc_ramp_step_max=0.04
[I 15:39:34.251] MC:m_fault_stop_time_ms=500
[I 15:39:34.251] MC:m_duty_ramp_step=0.02
[I 15:39:34.251] MC:m_current_backoff_gain=0.5
[I 15:39:34.251] MC:m_encoder_counts=8192
[I 15:39:34.251] MC:m_sensor_port_mode=0
[I 15:39:34.251] MC:m_invert_direction=0
[I 15:39:34.251] MC:m_drv8301_oc_mode=0
[I 15:39:34.251] MC:m_drv8301_oc_adj=16
[I 15:39:34.251] MC:m_bldc_f_sw_min=3000
[I 15:39:34.251] MC:m_bldc_f_sw_max=40000
[I 15:39:34.251] MC:m_dc_f_sw=35000
[I 15:39:34.251] MC:m_ntc_motor_beta=3380
[I 15:39:34.252] [confs] readAppConfiguration
[I 15:39:34.252] Ask.appConfGet()
[I 15:39:34.304] Stopping configurations timer
[I 15:39:34.304] [confs] GET_APPCONF reply currentId=1
[I 15:39:34.305] Ask.appConfRead()
[I 15:39:34.305] [ask]: conf does not have signature
[I 15:39:34.305] AC:controller_id=1
[I 15:39:34.305] AC:timeout_msec=1000
[I 15:39:34.305] AC:timeout_brake_current=0
[I 15:39:34.305] AC:send_can_status=1
[I 15:39:34.305] AC:send_can_status_rate_hz=200
[I 15:39:34.305] AC:can_baud_rate=2
[I 15:39:34.305] AC:app_to_use=3
[I 15:39:34.305] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:34.305] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:34.305] AC:app_ppm_conf_hyst=0.15
[I 15:39:34.305] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:34.305] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:34.305] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:34.305] AC:app_ppm_conf_median_filter=1
[I 15:39:34.306] AC:app_ppm_conf_safe_start=1
[I 15:39:34.306] AC:app_ppm_conf_throttle_exp=0.5
[I 15:39:34.306] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:39:34.306] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:39:34.306] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:34.306] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:34.306] AC:app_ppm_conf_multi_esc=1
[I 15:39:34.306] AC:app_ppm_conf_tc=1
[I 15:39:34.306] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:34.306] AC:app_adc_conf_ctrl_type=0
[I 15:39:34.306] AC:app_adc_conf_hyst=0.15
[I 15:39:34.306] AC:app_adc_conf_voltage_start=0.9
[I 15:39:34.306] AC:app_adc_conf_voltage_end=3
[I 15:39:34.306] AC:app_adc_conf_voltage_center=2
[I 15:39:34.306] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:34.306] AC:app_adc_conf_voltage2_end=3
[I 15:39:34.306] AC:app_adc_conf_use_filter=1
[I 15:39:34.306] AC:app_adc_conf_safe_start=1
[I 15:39:34.306] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:34.306] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:34.306] AC:app_adc_conf_voltage_inverted=0
[I 15:39:34.306] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:34.306] AC:app_adc_conf_throttle_exp=0
[I 15:39:34.306] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:34.306] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:34.306] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:34.306] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:34.306] AC:app_adc_conf_multi_esc=0
[I 15:39:34.306] AC:app_adc_conf_tc=0
[I 15:39:34.307] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:34.307] AC:app_adc_conf_update_rate_hz=500
[I 15:39:34.307] AC:app_uart_baudrate=9600
[I 15:39:34.307] AC:app_chuk_conf_ctrl_type=1
[I 15:39:34.307] AC:app_chuk_conf_hyst=0.15
[I 15:39:34.307] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:34.307] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:34.307] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:34.307] AC:app_chuk_conf_throttle_exp=0
[I 15:39:34.307] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:34.307] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:34.307] AC:app_chuk_conf_multi_esc=0
[I 15:39:34.307] AC:app_chuk_conf_tc=0
[I 15:39:34.307] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:34.307] AC:app_nrf_conf_speed=2
[I 15:39:34.307] AC:app_nrf_conf_power=3
[I 15:39:34.307] AC:app_nrf_conf_crc_type=1
[I 15:39:34.307] AC:app_nrf_conf_retry_delay=0
[I 15:39:34.307] AC:app_nrf_conf_retries=3
[I 15:39:34.307] AC:app_nrf_conf_channel=76
[I 15:39:34.307] AC:app_nrf_conf_address=13027072
[I 15:39:34.307] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:34.307] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:34.307] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:34.307] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:34.307] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:34.307] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:34.307] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:34.308] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:34.308] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:34.308] [modes] modifying 2 confs
[I 15:39:34.308] [modes] Apply conf:l_max_erpm=6238.87903895798
[I 15:39:34.309] [modes] Apply conf:l_current_max=55
[I 15:39:34.309] [modes] Apply conf:l_current_min=-60
[I 15:39:34.309] [modes] Apply conf:l_in_current_max=35
[I 15:39:34.309] [modes] Apply conf:l_in_current_min=-7
[I 15:39:34.309] [modes] Apply conf:l_temp_fet_start=60
[I 15:39:34.310] [modes] Apply conf:l_temp_fet_end=70
[I 15:39:34.310] [modes] Apply conf:l_temp_motor_start=60
[I 15:39:34.310] [modes] Apply conf:l_temp_motor_end=70
[I 15:39:34.310] [modes] Apply conf:l_watt_max=15000
[I 15:39:34.310] [modes] Apply conf:l_watt_min=-15000
[I 15:39:34.311] [modes] Apply conf:l_abs_current_max=80
[I 15:39:34.311] [modes] Apply conf:l_battery_cut_start=42
[I 15:39:34.311] [modes] Apply conf:l_battery_cut_end=40
[I 15:39:34.311] [modes] Apply conf:l_max_erpm=6238.87903895798
[I 15:39:34.312] [modes] Apply conf:l_current_max=55
[I 15:39:34.312] [modes] Apply conf:l_current_min=-60
[I 15:39:34.312] [modes] Apply conf:l_in_current_max=35
[I 15:39:34.312] [modes] Apply conf:l_in_current_min=-7
[I 15:39:34.312] [modes] Apply conf:l_temp_fet_start=60
[I 15:39:34.312] [modes] Apply conf:l_temp_fet_end=70
[I 15:39:34.312] [modes] Apply conf:l_temp_motor_start=60
[I 15:39:34.312] [modes] Apply conf:l_temp_motor_end=70
[I 15:39:34.312] [modes] Apply conf:l_watt_max=15000
[I 15:39:34.313] [modes] Apply conf:l_watt_min=-15000
[I 15:39:34.313] [modes] Apply conf:l_abs_current_max=80
[I 15:39:34.313] [modes] Apply conf:l_battery_cut_start=42
[I 15:39:34.313] [modes] Apply conf:l_battery_cut_end=40
[I 15:39:34.313] [confs] write()
[I 15:39:34.313] [confs] writeMotorConfiguration
[I 15:39:34.313] Ask.motorConfWrite()
[I 15:39:34.314] MC:pwm_mode=1
[I 15:39:34.314] MC:comm_mode=0
[I 15:39:34.314] MC:motor_type=2
[I 15:39:34.314] MC:sensor_mode=2
[I 15:39:34.314] MC:l_current_max=55
[I 15:39:34.314] MC:l_current_min=-60
[I 15:39:34.314] MC:l_in_current_max=35
[I 15:39:34.314] MC:l_in_current_min=-7
[I 15:39:34.314] MC:l_abs_current_max=80
[I 15:39:34.314] MC:l_min_erpm=-60000
[I 15:39:34.314] MC:l_max_erpm=6238.87903895798
[I 15:39:34.314] MC:l_erpm_start=0.8
[I 15:39:34.314] MC:l_max_erpm_fbrake=300
[I 15:39:34.314] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:34.314] MC:l_min_vin=6
[I 15:39:34.314] MC:l_max_vin=57
[I 15:39:34.314] MC:l_battery_cut_start=42
[I 15:39:34.314] MC:l_battery_cut_end=40
[I 15:39:34.314] MC:l_slow_abs_current=1
[I 15:39:34.314] MC:l_temp_fet_start=60
[I 15:39:34.314] MC:l_temp_fet_end=70
[I 15:39:34.314] MC:l_temp_motor_start=60
[I 15:39:34.314] MC:l_temp_motor_end=70
[I 15:39:34.314] MC:l_temp_accel_dec=0.1
[I 15:39:34.314] MC:l_min_duty=0.005
[I 15:39:34.314] MC:l_max_duty=0.95
[I 15:39:34.314] MC:l_watt_max=15000
[I 15:39:34.314] MC:l_watt_min=-15000
[I 15:39:34.314] MC:sl_min_erpm=150
[I 15:39:34.314] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:34.314] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:34.314] MC:sl_cycle_int_limit=62
[I 15:39:34.314] MC:sl_phase_advance_at_br=0.8
[I 15:39:34.314] MC:sl_cycle_int_rpm_br=80000
[I 15:39:34.314] MC:sl_bemf_coupling_k=600
[I 15:39:34.314] MC:hall_table_0=255
[I 15:39:34.314] MC:hall_table_1=1
[I 15:39:34.314] MC:hall_table_2=3
[I 15:39:34.314] MC:hall_table_3=2
[I 15:39:34.314] MC:hall_table_4=5
[I 15:39:34.314] MC:hall_table_5=6
[I 15:39:34.314] MC:hall_table_6=4
[I 15:39:34.314] MC:hall_table_7=255
[I 15:39:34.314] MC:hall_sl_erpm=2000
[I 15:39:34.314] MC:foc_current_kp=0.0044
[I 15:39:34.314] MC:foc_current_ki=13.95
[I 15:39:34.314] MC:foc_f_sw=20000
[I 15:39:34.314] MC:foc_dt_us=0.08
[I 15:39:34.314] MC:foc_encoder_inverted=0
[I 15:39:34.314] MC:foc_encoder_offset=180
[I 15:39:34.314] MC:foc_encoder_ratio=7
[I 15:39:34.314] MC:foc_sensor_mode=2
[I 15:39:34.314] MC:foc_pll_kp=2000
[I 15:39:34.314] MC:foc_pll_ki=40000
[I 15:39:34.314] MC:foc_motor_l=4.37e-06
[I 15:39:34.314] MC:foc_motor_r=0.0139
[I 15:39:34.314] MC:foc_motor_flux_linkage=0.004444
[I 15:39:34.314] MC:foc_observer_gain=5.064e+07
[I 15:39:34.314] MC:foc_observer_gain_slow=0.3
[I 15:39:34.314] MC:foc_duty_dowmramp_kp=10
[I 15:39:34.314] MC:foc_duty_dowmramp_ki=200
[I 15:39:34.314] MC:foc_openloop_rpm=400
[I 15:39:34.314] MC:foc_sl_openloop_hyst=0.1
[I 15:39:34.314] MC:foc_sl_openloop_time=0.1
[I 15:39:34.314] MC:foc_sl_d_current_duty=0
[I 15:39:34.314] MC:foc_sl_d_current_factor=0
[I 15:39:34.314] MC:foc_hall_table0=255
[I 15:39:34.314] MC:foc_hall_table1=86
[I 15:39:34.314] MC:foc_hall_table2=17
[I 15:39:34.314] MC:foc_hall_table3=56
[I 15:39:34.314] MC:foc_hall_table4=155
[I 15:39:34.314] MC:foc_hall_table5=119
[I 15:39:34.315] MC:foc_hall_table6=183
[I 15:39:34.315] MC:foc_hall_table7=255
[I 15:39:34.315] MC:foc_sl_erpm=2500
[I 15:39:34.315] MC:foc_sample_v0_v7=0
[I 15:39:34.315] MC:foc_sample_high_current=0
[I 15:39:34.315] MC:foc_sat_comp=0
[I 15:39:34.315] MC:foc_temp_comp=0
[I 15:39:34.315] MC:foc_temp_comp_base_temp=25
[I 15:39:34.315] MC:foc_current_filter_const=0.1
[I 15:39:34.315] MC:s_pid_kp=0.002
[I 15:39:34.315] MC:s_pid_ki=0.002
[I 15:39:34.315] MC:s_pid_kd=0
[I 15:39:34.315] MC:s_pid_kd_filter=0.2
[I 15:39:34.315] MC:s_pid_min_rpm=900
[I 15:39:34.315] MC:s_pid_allow_braking=1
[I 15:39:34.315] MC:p_pid_kp=0.03
[I 15:39:34.315] MC:p_pid_ki=0
[I 15:39:34.315] MC:p_pid_kd=0.0004
[I 15:39:34.315] MC:p_pid_kd_filter=0.2
[I 15:39:34.315] MC:p_pid_ang_div=1
[I 15:39:34.315] MC:cc_startup_boost_duty=0.01
[I 15:39:34.315] MC:cc_min_current=0.1
[I 15:39:34.315] MC:cc_gain=0.0046
[I 15:39:34.315] MC:cc_ramp_step_max=0.04
[I 15:39:34.315] MC:m_fault_stop_time_ms=500
[I 15:39:34.315] MC:m_duty_ramp_step=0.02
[I 15:39:34.315] MC:m_current_backoff_gain=0.5
[I 15:39:34.315] MC:m_encoder_counts=8192
[I 15:39:34.315] MC:m_sensor_port_mode=0
[I 15:39:34.315] MC:m_invert_direction=0
[I 15:39:34.315] MC:m_drv8301_oc_mode=0
[I 15:39:34.315] MC:m_drv8301_oc_adj=16
[I 15:39:34.315] MC:m_bldc_f_sw_min=3000
[I 15:39:34.315] MC:m_bldc_f_sw_max=40000
[I 15:39:34.315] MC:m_dc_f_sw=35000
[I 15:39:34.315] MC:m_ntc_motor_beta=3380
[I 15:39:34.874] Stopping configurations timer
[I 15:39:34.874] [confs] SET_MCCONF reply currentId=0
[I 15:39:34.875] Ask.appConfWrite()
[I 15:39:34.876] AC:controller_id=0
[I 15:39:34.876] AC:timeout_msec=1000
[I 15:39:34.876] AC:timeout_brake_current=0
[I 15:39:34.876] AC:send_can_status=1
[I 15:39:34.876] AC:send_can_status_rate_hz=200
[I 15:39:34.876] AC:can_baud_rate=2
[I 15:39:34.877] AC:app_to_use=4
[I 15:39:34.877] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:34.877] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:34.877] AC:app_ppm_conf_hyst=0.15
[I 15:39:34.877] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:34.877] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:34.877] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:34.877] AC:app_ppm_conf_median_filter=1
[I 15:39:34.878] AC:app_ppm_conf_safe_start=1
[I 15:39:34.878] AC:app_ppm_conf_throttle_exp=0.85
[I 15:39:34.878] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:39:34.878] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:39:34.878] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:34.878] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:34.879] AC:app_ppm_conf_multi_esc=1
[I 15:39:34.879] AC:app_ppm_conf_tc=1
[I 15:39:34.879] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:34.879] AC:app_adc_conf_ctrl_type=0
[I 15:39:34.879] AC:app_adc_conf_hyst=0.15
[I 15:39:34.879] AC:app_adc_conf_voltage_start=0.9
[I 15:39:34.879] AC:app_adc_conf_voltage_end=3
[I 15:39:34.879] AC:app_adc_conf_voltage_center=2
[I 15:39:34.879] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:34.880] AC:app_adc_conf_voltage2_end=3
[I 15:39:34.880] AC:app_adc_conf_use_filter=1
[I 15:39:34.880] AC:app_adc_conf_safe_start=1
[I 15:39:34.880] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:34.880] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:34.881] AC:app_adc_conf_voltage_inverted=0
[I 15:39:34.881] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:34.881] AC:app_adc_conf_throttle_exp=0
[I 15:39:34.881] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:34.881] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:34.881] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:34.881] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:34.882] AC:app_adc_conf_multi_esc=0
[I 15:39:34.882] AC:app_adc_conf_tc=0
[I 15:39:34.882] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:34.882] AC:app_adc_conf_update_rate_hz=500
[I 15:39:34.882] AC:app_uart_baudrate=115200
[I 15:39:34.882] AC:app_chuk_conf_ctrl_type=1
[I 15:39:34.882] AC:app_chuk_conf_hyst=0.15
[I 15:39:34.882] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:34.882] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:34.883] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:34.883] AC:app_chuk_conf_throttle_exp=0
[I 15:39:34.883] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:34.883] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:34.883] AC:app_chuk_conf_multi_esc=0
[I 15:39:34.883] AC:app_chuk_conf_tc=0
[I 15:39:34.883] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:34.884] AC:app_nrf_conf_speed=2
[I 15:39:34.884] AC:app_nrf_conf_power=3
[I 15:39:34.884] AC:app_nrf_conf_crc_type=1
[I 15:39:34.884] AC:app_nrf_conf_retry_delay=0
[I 15:39:34.884] AC:app_nrf_conf_retries=3
[I 15:39:34.884] AC:app_nrf_conf_channel=76
[I 15:39:34.884] AC:app_nrf_conf_address=13027072
[I 15:39:34.884] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:34.884] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:34.885] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:34.885] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:34.885] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:34.885] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:34.885] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:34.885] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:34.885] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:35.347] Stopping configurations timer
[I 15:39:35.347] [confs] SET_APPCONF reply currentId=0
[I 15:39:35.348] [confs] writeMotorConfiguration
[I 15:39:35.349] Ask.motorConfWrite()
[I 15:39:35.349] MC:pwm_mode=1
[I 15:39:35.349] MC:comm_mode=0
[I 15:39:35.349] MC:motor_type=2
[I 15:39:35.349] MC:sensor_mode=2
[I 15:39:35.349] MC:l_current_max=55
[I 15:39:35.351] MC:l_current_min=-60
[I 15:39:35.351] MC:l_in_current_max=35
[I 15:39:35.351] MC:l_in_current_min=-7
[I 15:39:35.351] MC:l_abs_current_max=80
[I 15:39:35.351] MC:l_min_erpm=-60000
[I 15:39:35.351] MC:l_max_erpm=6238.87903895798
[I 15:39:35.351] MC:l_erpm_start=0.8
[I 15:39:35.351] MC:l_max_erpm_fbrake=300
[I 15:39:35.351] MC:l_max_erpm_fbrake_cc=1500
[I 15:39:35.351] MC:l_min_vin=6
[I 15:39:35.351] MC:l_max_vin=57
[I 15:39:35.351] MC:l_battery_cut_start=42
[I 15:39:35.351] MC:l_battery_cut_end=40
[I 15:39:35.351] MC:l_slow_abs_current=1
[I 15:39:35.351] MC:l_temp_fet_start=60
[I 15:39:35.351] MC:l_temp_fet_end=70
[I 15:39:35.351] MC:l_temp_motor_start=60
[I 15:39:35.351] MC:l_temp_motor_end=70
[I 15:39:35.351] MC:l_temp_accel_dec=0.1
[I 15:39:35.351] MC:l_min_duty=0.005
[I 15:39:35.351] MC:l_max_duty=0.95
[I 15:39:35.351] MC:l_watt_max=15000
[I 15:39:35.351] MC:l_watt_min=-15000
[I 15:39:35.351] MC:sl_min_erpm=150
[I 15:39:35.351] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:39:35.351] MC:sl_max_fullbreak_current_dir_change=10
[I 15:39:35.351] MC:sl_cycle_int_limit=62
[I 15:39:35.351] MC:sl_phase_advance_at_br=0.8
[I 15:39:35.351] MC:sl_cycle_int_rpm_br=80000
[I 15:39:35.351] MC:sl_bemf_coupling_k=600
[I 15:39:35.351] MC:hall_table_0=255
[I 15:39:35.351] MC:hall_table_1=1
[I 15:39:35.351] MC:hall_table_2=3
[I 15:39:35.351] MC:hall_table_3=2
[I 15:39:35.351] MC:hall_table_4=5
[I 15:39:35.351] MC:hall_table_5=6
[I 15:39:35.351] MC:hall_table_6=4
[I 15:39:35.351] MC:hall_table_7=255
[I 15:39:35.351] MC:hall_sl_erpm=2000
[I 15:39:35.351] MC:foc_current_kp=0.005
[I 15:39:35.351] MC:foc_current_ki=13.65
[I 15:39:35.351] MC:foc_f_sw=20000
[I 15:39:35.351] MC:foc_dt_us=0.08
[I 15:39:35.351] MC:foc_encoder_inverted=0
[I 15:39:35.351] MC:foc_encoder_offset=180
[I 15:39:35.351] MC:foc_encoder_ratio=7
[I 15:39:35.351] MC:foc_sensor_mode=2
[I 15:39:35.352] MC:foc_pll_kp=2000
[I 15:39:35.352] MC:foc_pll_ki=40000
[I 15:39:35.352] MC:foc_motor_l=4.96e-06
[I 15:39:35.352] MC:foc_motor_r=0.0137
[I 15:39:35.352] MC:foc_motor_flux_linkage=0.004425
[I 15:39:35.352] MC:foc_observer_gain=5.107e+07
[I 15:39:35.352] MC:foc_observer_gain_slow=0.3
[I 15:39:35.352] MC:foc_duty_dowmramp_kp=10
[I 15:39:35.352] MC:foc_duty_dowmramp_ki=200
[I 15:39:35.352] MC:foc_openloop_rpm=400
[I 15:39:35.352] MC:foc_sl_openloop_hyst=0.1
[I 15:39:35.352] MC:foc_sl_openloop_time=0.1
[I 15:39:35.352] MC:foc_sl_d_current_duty=0
[I 15:39:35.352] MC:foc_sl_d_current_factor=0
[I 15:39:35.352] MC:foc_hall_table0=255
[I 15:39:35.352] MC:foc_hall_table1=52
[I 15:39:35.352] MC:foc_hall_table2=115
[I 15:39:35.352] MC:foc_hall_table3=82
[I 15:39:35.352] MC:foc_hall_table4=179
[I 15:39:35.352] MC:foc_hall_table5=15
[I 15:39:35.352] MC:foc_hall_table6=149
[I 15:39:35.352] MC:foc_hall_table7=255
[I 15:39:35.352] MC:foc_sl_erpm=2500
[I 15:39:35.352] MC:foc_sample_v0_v7=0
[I 15:39:35.352] MC:foc_sample_high_current=0
[I 15:39:35.352] MC:foc_sat_comp=0
[I 15:39:35.352] MC:foc_temp_comp=0
[I 15:39:35.352] MC:foc_temp_comp_base_temp=25
[I 15:39:35.352] MC:foc_current_filter_const=0.1
[I 15:39:35.352] MC:s_pid_kp=0.002
[I 15:39:35.352] MC:s_pid_ki=0.002
[I 15:39:35.352] MC:s_pid_kd=0
[I 15:39:35.352] MC:s_pid_kd_filter=0.2
[I 15:39:35.352] MC:s_pid_min_rpm=900
[I 15:39:35.352] MC:s_pid_allow_braking=1
[I 15:39:35.352] MC:p_pid_kp=0.03
[I 15:39:35.352] MC:p_pid_ki=0
[I 15:39:35.352] MC:p_pid_kd=0.0004
[I 15:39:35.352] MC:p_pid_kd_filter=0.2
[I 15:39:35.352] MC:p_pid_ang_div=1
[I 15:39:35.352] MC:cc_startup_boost_duty=0.01
[I 15:39:35.352] MC:cc_min_current=0.1
[I 15:39:35.352] MC:cc_gain=0.0046
[I 15:39:35.352] MC:cc_ramp_step_max=0.04
[I 15:39:35.352] MC:m_fault_stop_time_ms=500
[I 15:39:35.352] MC:m_duty_ramp_step=0.02
[I 15:39:35.352] MC:m_current_backoff_gain=0.5
[I 15:39:35.352] MC:m_encoder_counts=8192
[I 15:39:35.352] MC:m_sensor_port_mode=0
[I 15:39:35.353] MC:m_invert_direction=0
[I 15:39:35.353] MC:m_drv8301_oc_mode=0
[I 15:39:35.353] MC:m_drv8301_oc_adj=16
[I 15:39:35.353] MC:m_bldc_f_sw_min=3000
[I 15:39:35.353] MC:m_bldc_f_sw_max=40000
[I 15:39:35.353] MC:m_dc_f_sw=35000
[I 15:39:35.353] MC:m_ntc_motor_beta=3380
[I 15:39:35.892] Stopping configurations timer
[I 15:39:35.892] [confs] SET_MCCONF reply currentId=1
[I 15:39:35.894] Ask.appConfWrite()
[I 15:39:35.895] AC:controller_id=1
[I 15:39:35.895] AC:timeout_msec=1000
[I 15:39:35.895] AC:timeout_brake_current=0
[I 15:39:35.895] AC:send_can_status=1
[I 15:39:35.895] AC:send_can_status_rate_hz=200
[I 15:39:35.895] AC:can_baud_rate=2
[I 15:39:35.895] AC:app_to_use=3
[I 15:39:35.895] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:39:35.896] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:39:35.896] AC:app_ppm_conf_hyst=0.15
[I 15:39:35.896] AC:app_ppm_conf_pulse_start=1.145
[I 15:39:35.896] AC:app_ppm_conf_pulse_end=1.938
[I 15:39:35.896] AC:app_ppm_conf_pulse_center=1.538
[I 15:39:35.896] AC:app_ppm_conf_median_filter=1
[I 15:39:35.896] AC:app_ppm_conf_safe_start=1
[I 15:39:35.896] AC:app_ppm_conf_throttle_exp=0.5
[I 15:39:35.897] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:39:35.897] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:39:35.897] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:39:35.897] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:39:35.897] AC:app_ppm_conf_multi_esc=1
[I 15:39:35.897] AC:app_ppm_conf_tc=1
[I 15:39:35.897] AC:app_ppm_conf_tc_max_diff=5000
[I 15:39:35.897] AC:app_adc_conf_ctrl_type=0
[I 15:39:35.897] AC:app_adc_conf_hyst=0.15
[I 15:39:35.898] AC:app_adc_conf_voltage_start=0.9
[I 15:39:35.898] AC:app_adc_conf_voltage_end=3
[I 15:39:35.898] AC:app_adc_conf_voltage_center=2
[I 15:39:35.898] AC:app_adc_conf_voltage2_start=0.9
[I 15:39:35.898] AC:app_adc_conf_voltage2_end=3
[I 15:39:35.898] AC:app_adc_conf_use_filter=1
[I 15:39:35.898] AC:app_adc_conf_safe_start=1
[I 15:39:35.898] AC:app_adc_conf_cc_button_inverted=0
[I 15:39:35.899] AC:app_adc_conf_rev_button_inverted=0
[I 15:39:35.899] AC:app_adc_conf_voltage_inverted=0
[I 15:39:35.899] AC:app_adc_conf_voltage2_inverted=0
[I 15:39:35.899] AC:app_adc_conf_throttle_exp=0
[I 15:39:35.899] AC:app_adc_conf_throttle_exp_brake=0
[I 15:39:35.899] AC:app_adc_conf_throttle_exp_mode=3
[I 15:39:35.899] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:39:35.900] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:39:35.900] AC:app_adc_conf_multi_esc=0
[I 15:39:35.900] AC:app_adc_conf_tc=0
[I 15:39:35.900] AC:app_adc_conf_tc_max_diff=5000
[I 15:39:35.900] AC:app_adc_conf_update_rate_hz=500
[I 15:39:35.900] AC:app_uart_baudrate=9600
[I 15:39:35.900] AC:app_chuk_conf_ctrl_type=1
[I 15:39:35.901] AC:app_chuk_conf_hyst=0.15
[I 15:39:35.901] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:39:35.901] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:39:35.901] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:39:35.901] AC:app_chuk_conf_throttle_exp=0
[I 15:39:35.901] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:39:35.901] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:39:35.901] AC:app_chuk_conf_multi_esc=0
[I 15:39:35.901] AC:app_chuk_conf_tc=0
[I 15:39:35.902] AC:app_chuk_conf_tc_max_diff=5000
[I 15:39:35.902] AC:app_nrf_conf_speed=2
[I 15:39:35.902] AC:app_nrf_conf_power=3
[I 15:39:35.902] AC:app_nrf_conf_crc_type=1
[I 15:39:35.902] AC:app_nrf_conf_retry_delay=0
[I 15:39:35.902] AC:app_nrf_conf_retries=3
[I 15:39:35.902] AC:app_nrf_conf_channel=76
[I 15:39:35.902] AC:app_nrf_conf_address=13027072
[I 15:39:35.903] AC:app_nrf_conf_send_crc_ack=1
[I 15:39:35.903] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:39:35.903] AC:ack_app_ppm_conf_cruise_left=0
[I 15:39:35.903] AC:ack_app_ppm_conf_cruise_right=0
[I 15:39:35.903] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:39:35.903] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:39:35.903] AC:ack_app_adc_conf_tc_offset=3000
[I 15:39:35.903] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:39:35.903] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:39:36.375] Stopping configurations timer
[I 15:39:36.376] [confs] SET_APPCONF reply currentId=1
[I 15:39:36.377] [modes] Finishing apply, applied=true
[I 15:39:36.379] [mm] save()
[I 15:39:36.405] [ds] Saving settings for EC8A9C8C71CF
[I 15:39:36.405] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:39:36.405] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"7","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":true},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:39:36.406] void Settings::endGroup()
[I 15:39:37.903] [lfi] setting PositionSource.active to false
[I 15:39:37.903] [mw] openRealtime
[I 15:39:37.904] [modes] exit
[I 15:39:37.904] Ask.startRt()
[I 15:39:37.914] [rt] enter
[I 15:39:37.915] [mw] openRealtime
[E 15:40:12.819] Speed abnormal '-1.24429'
[E 15:40:12.916] Speed abnormal '-1.03111'
[E 15:40:13.009] Speed abnormal '-0.563242'
[I 15:41:38.060] [lfi] setting PositionSource.active to true
[I 15:41:39.955] [rt] exit
[I 15:41:39.957] [records] enter
[I 15:41:40.802] static void Utils::lockCpu()
[I 15:41:40.803] Record /storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r started
[I 15:41:41.295] [mw] openRealtime
[I 15:41:41.295] [records] exit
[I 15:41:41.303] [rt] enter
[I 15:41:41.353] [mw] openRealtime
[E 15:42:43.484] Speed abnormal '-0.455531'
[E 15:42:43.574] Speed abnormal '-0.568852'
[E 15:42:45.735] Speed abnormal '-0.320891'
[E 15:42:45.819] Speed abnormal '-0.777544'
[E 15:42:45.937] Speed abnormal '-0.848229'
[E 15:42:46.032] Speed abnormal '-0.755104'
[E 15:42:46.124] Speed abnormal '-0.603634'
[E 15:42:46.249] Speed abnormal '-0.492556'
[I 15:43:06.894] [rt] exit
[I 15:43:06.904] [modes] enter
[I 15:43:06.904] Ask.stopRt()
[I 15:43:07.940] [modes] editing mode lipo legal
[I 15:43:10.114] M:max_speed, was=7 is=1
[I 15:43:10.117] [mm] save()
[I 15:43:10.131] [ds] Saving settings for EC8A9C8C71CF
[I 15:43:10.131] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:43:10.131] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"1","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:43:10.131] void Settings::endGroup()
[I 15:43:10.364] M:max_speed, was=1 is=15
[I 15:43:10.367] [mm] save()
[I 15:43:10.385] [ds] Saving settings for EC8A9C8C71CF
[I 15:43:10.385] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:43:10.385] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"15","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:43:10.385] void Settings::endGroup()
[I 15:43:11.616] [modes] Updating summary for 'lipo legal'
[I 15:43:14.302] createMotorConf FW 3.103
[I 15:43:14.304] [modes] Applying 'lipo legal'
[I 15:43:14.304] [confs] Initializing 2 configuration containers
[I 15:43:14.305] createMotorConf FW 3.103
[I 15:43:14.307] createMotorConf FW 3.103
[I 15:43:14.310] [confs] read()
[I 15:43:14.311] createMotorConf FW 3.103
[I 15:43:14.312] [confs] readMotorConfiguration
[I 15:43:14.312] Ask.motorConfGet()
[I 15:43:14.475] Stopping configurations timer
[I 15:43:14.476] [confs] GET_MCCONF reply currentId=0
[I 15:43:14.476] Ask.motorConfRead()
[I 15:43:14.476] [ask]: conf does not have signature
[I 15:43:14.476] MC:pwm_mode=1
[I 15:43:14.476] MC:comm_mode=0
[I 15:43:14.477] MC:motor_type=2
[I 15:43:14.477] MC:sensor_mode=2
[I 15:43:14.477] MC:l_current_max=55
[I 15:43:14.477] MC:l_current_min=-60
[I 15:43:14.478] MC:l_in_current_max=35
[I 15:43:14.478] MC:l_in_current_min=-7
[I 15:43:14.478] MC:l_abs_current_max=80
[I 15:43:14.479] MC:l_min_erpm=-60000
[I 15:43:14.479] MC:l_max_erpm=6238.88
[I 15:43:14.479] MC:l_erpm_start=0.8
[I 15:43:14.481] MC:l_max_erpm_fbrake=300
[I 15:43:14.481] MC:l_max_erpm_fbrake_cc=1500
[I 15:43:14.481] MC:l_min_vin=6
[I 15:43:14.482] MC:l_max_vin=57
[I 15:43:14.482] MC:l_battery_cut_start=42
[I 15:43:14.482] MC:l_battery_cut_end=40
[I 15:43:14.482] MC:l_slow_abs_current=1
[I 15:43:14.482] MC:l_temp_fet_start=60
[I 15:43:14.482] MC:l_temp_fet_end=70
[I 15:43:14.483] MC:l_temp_motor_start=60
[I 15:43:14.483] MC:l_temp_motor_end=70
[I 15:43:14.483] MC:l_temp_accel_dec=0.1
[I 15:43:14.483] MC:l_min_duty=0.005
[I 15:43:14.483] MC:l_max_duty=0.95
[I 15:43:14.484] MC:l_watt_max=15000
[I 15:43:14.484] MC:l_watt_min=-15000
[I 15:43:14.484] MC:sl_min_erpm=150
[I 15:43:14.484] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:43:14.484] MC:sl_max_fullbreak_current_dir_change=10
[I 15:43:14.484] MC:sl_cycle_int_limit=62
[I 15:43:14.484] MC:sl_phase_advance_at_br=0.8
[I 15:43:14.485] MC:sl_cycle_int_rpm_br=80000
[I 15:43:14.485] MC:sl_bemf_coupling_k=600
[I 15:43:14.485] MC:hall_table_0=255
[I 15:43:14.485] MC:hall_table_1=1
[I 15:43:14.485] MC:hall_table_2=3
[I 15:43:14.485] MC:hall_table_3=2
[I 15:43:14.486] MC:hall_table_4=5
[I 15:43:14.486] MC:hall_table_5=6
[I 15:43:14.486] MC:hall_table_6=4
[I 15:43:14.486] MC:hall_table_7=255
[I 15:43:14.486] MC:hall_sl_erpm=2000
[I 15:43:14.487] MC:foc_current_kp=0.0044
[I 15:43:14.487] MC:foc_current_ki=13.95
[I 15:43:14.487] MC:foc_f_sw=20000
[I 15:43:14.487] MC:foc_dt_us=0.08
[I 15:43:14.487] MC:foc_encoder_inverted=0
[I 15:43:14.487] MC:foc_encoder_offset=180
[I 15:43:14.488] MC:foc_encoder_ratio=7
[I 15:43:14.488] MC:foc_sensor_mode=2
[I 15:43:14.488] MC:foc_pll_kp=2000
[I 15:43:14.488] MC:foc_pll_ki=40000
[I 15:43:14.488] MC:foc_motor_l=4.37e-06
[I 15:43:14.488] MC:foc_motor_r=0.0139
[I 15:43:14.489] MC:foc_motor_flux_linkage=0.004444
[I 15:43:14.489] MC:foc_observer_gain=5.064e+07
[I 15:43:14.489] MC:foc_observer_gain_slow=0.3
[I 15:43:14.489] MC:foc_duty_dowmramp_kp=10
[I 15:43:14.489] MC:foc_duty_dowmramp_ki=200
[I 15:43:14.489] MC:foc_openloop_rpm=400
[I 15:43:14.491] MC:foc_sl_openloop_hyst=0.1
[I 15:43:14.491] MC:foc_sl_openloop_time=0.1
[I 15:43:14.491] MC:foc_sl_d_current_duty=0
[I 15:43:14.491] MC:foc_sl_d_current_factor=0
[I 15:43:14.491] MC:foc_hall_table0=255
[I 15:43:14.491] MC:foc_hall_table1=86
[I 15:43:14.491] MC:foc_hall_table2=17
[I 15:43:14.491] MC:foc_hall_table3=56
[I 15:43:14.491] MC:foc_hall_table4=155
[I 15:43:14.491] MC:foc_hall_table5=119
[I 15:43:14.491] MC:foc_hall_table6=183
[I 15:43:14.491] MC:foc_hall_table7=255
[I 15:43:14.491] MC:foc_sl_erpm=2500
[I 15:43:14.491] MC:foc_sample_v0_v7=0
[I 15:43:14.491] MC:foc_sample_high_current=0
[I 15:43:14.491] MC:foc_sat_comp=0
[I 15:43:14.491] MC:foc_temp_comp=0
[I 15:43:14.491] MC:foc_temp_comp_base_temp=25
[I 15:43:14.491] MC:foc_current_filter_const=0.1
[I 15:43:14.491] MC:s_pid_kp=0.002
[I 15:43:14.491] MC:s_pid_ki=0.002
[I 15:43:14.491] MC:s_pid_kd=0
[I 15:43:14.491] MC:s_pid_kd_filter=0.2
[I 15:43:14.491] MC:s_pid_min_rpm=900
[I 15:43:14.491] MC:s_pid_allow_braking=1
[I 15:43:14.491] MC:p_pid_kp=0.03
[I 15:43:14.491] MC:p_pid_ki=0
[I 15:43:14.492] MC:p_pid_kd=0.0004
[I 15:43:14.492] MC:p_pid_kd_filter=0.2
[I 15:43:14.492] MC:p_pid_ang_div=1
[I 15:43:14.492] MC:cc_startup_boost_duty=0.01
[I 15:43:14.492] MC:cc_min_current=0.1
[I 15:43:14.492] MC:cc_gain=0.0046
[I 15:43:14.492] MC:cc_ramp_step_max=0.04
[I 15:43:14.492] MC:m_fault_stop_time_ms=500
[I 15:43:14.492] MC:m_duty_ramp_step=0.02
[I 15:43:14.492] MC:m_current_backoff_gain=0.5
[I 15:43:14.492] MC:m_encoder_counts=8192
[I 15:43:14.492] MC:m_sensor_port_mode=0
[I 15:43:14.492] MC:m_invert_direction=0
[I 15:43:14.492] MC:m_drv8301_oc_mode=0
[I 15:43:14.492] MC:m_drv8301_oc_adj=16
[I 15:43:14.492] MC:m_bldc_f_sw_min=3000
[I 15:43:14.492] MC:m_bldc_f_sw_max=40000
[I 15:43:14.492] MC:m_dc_f_sw=35000
[I 15:43:14.492] MC:m_ntc_motor_beta=3380
[I 15:43:14.493] [confs] readAppConfiguration
[I 15:43:14.493] Ask.appConfGet()
[I 15:43:14.558] Stopping configurations timer
[I 15:43:14.558] [confs] GET_APPCONF reply currentId=0
[I 15:43:14.558] Ask.appConfRead()
[I 15:43:14.558] [ask]: conf does not have signature
[I 15:43:14.558] AC:controller_id=0
[I 15:43:14.558] AC:timeout_msec=1000
[I 15:43:14.558] AC:timeout_brake_current=0
[I 15:43:14.558] AC:send_can_status=1
[I 15:43:14.558] AC:send_can_status_rate_hz=200
[I 15:43:14.558] AC:can_baud_rate=2
[I 15:43:14.558] AC:app_to_use=4
[I 15:43:14.558] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:43:14.559] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:43:14.559] AC:app_ppm_conf_hyst=0.15
[I 15:43:14.559] AC:app_ppm_conf_pulse_start=1.145
[I 15:43:14.559] AC:app_ppm_conf_pulse_end=1.938
[I 15:43:14.559] AC:app_ppm_conf_pulse_center=1.538
[I 15:43:14.559] AC:app_ppm_conf_median_filter=1
[I 15:43:14.559] AC:app_ppm_conf_safe_start=1
[I 15:43:14.559] AC:app_ppm_conf_throttle_exp=0.85
[I 15:43:14.559] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:43:14.559] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:43:14.559] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:43:14.559] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:43:14.559] AC:app_ppm_conf_multi_esc=1
[I 15:43:14.559] AC:app_ppm_conf_tc=1
[I 15:43:14.559] AC:app_ppm_conf_tc_max_diff=5000
[I 15:43:14.559] AC:app_adc_conf_ctrl_type=0
[I 15:43:14.559] AC:app_adc_conf_hyst=0.15
[I 15:43:14.559] AC:app_adc_conf_voltage_start=0.9
[I 15:43:14.559] AC:app_adc_conf_voltage_end=3
[I 15:43:14.560] AC:app_adc_conf_voltage_center=2
[I 15:43:14.560] AC:app_adc_conf_voltage2_start=0.9
[I 15:43:14.560] AC:app_adc_conf_voltage2_end=3
[I 15:43:14.560] AC:app_adc_conf_use_filter=1
[I 15:43:14.560] AC:app_adc_conf_safe_start=1
[I 15:43:14.560] AC:app_adc_conf_cc_button_inverted=0
[I 15:43:14.560] AC:app_adc_conf_rev_button_inverted=0
[I 15:43:14.560] AC:app_adc_conf_voltage_inverted=0
[I 15:43:14.560] AC:app_adc_conf_voltage2_inverted=0
[I 15:43:14.560] AC:app_adc_conf_throttle_exp=0
[I 15:43:14.560] AC:app_adc_conf_throttle_exp_brake=0
[I 15:43:14.560] AC:app_adc_conf_throttle_exp_mode=3
[I 15:43:14.560] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:43:14.560] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:43:14.560] AC:app_adc_conf_multi_esc=0
[I 15:43:14.560] AC:app_adc_conf_tc=0
[I 15:43:14.560] AC:app_adc_conf_tc_max_diff=5000
[I 15:43:14.561] AC:app_adc_conf_update_rate_hz=500
[I 15:43:14.561] AC:app_uart_baudrate=115200
[I 15:43:14.561] AC:app_chuk_conf_ctrl_type=1
[I 15:43:14.561] AC:app_chuk_conf_hyst=0.15
[I 15:43:14.561] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:43:14.561] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:43:14.561] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:43:14.561] AC:app_chuk_conf_throttle_exp=0
[I 15:43:14.561] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:43:14.561] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:43:14.561] AC:app_chuk_conf_multi_esc=0
[I 15:43:14.561] AC:app_chuk_conf_tc=0
[I 15:43:14.561] AC:app_chuk_conf_tc_max_diff=5000
[I 15:43:14.561] AC:app_nrf_conf_speed=2
[I 15:43:14.561] AC:app_nrf_conf_power=3
[I 15:43:14.561] AC:app_nrf_conf_crc_type=1
[I 15:43:14.561] AC:app_nrf_conf_retry_delay=0
[I 15:43:14.561] AC:app_nrf_conf_retries=3
[I 15:43:14.561] AC:app_nrf_conf_channel=76
[I 15:43:14.561] AC:app_nrf_conf_address=13027072
[I 15:43:14.562] AC:app_nrf_conf_send_crc_ack=1
[I 15:43:14.562] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:43:14.562] AC:ack_app_ppm_conf_cruise_left=0
[I 15:43:14.562] AC:ack_app_ppm_conf_cruise_right=0
[I 15:43:14.562] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:43:14.562] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:43:14.562] AC:ack_app_adc_conf_tc_offset=3000
[I 15:43:14.562] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:43:14.562] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:43:14.562] [confs] readMotorConfiguration
[I 15:43:14.562] Ask.motorConfGet()
[I 15:43:14.709] Stopping configurations timer
[I 15:43:14.709] [confs] GET_MCCONF reply currentId=1
[I 15:43:14.709] Ask.motorConfRead()
[I 15:43:14.709] [ask]: conf does not have signature
[I 15:43:14.710] MC:pwm_mode=1
[I 15:43:14.710] MC:comm_mode=0
[I 15:43:14.710] MC:motor_type=2
[I 15:43:14.710] MC:sensor_mode=2
[I 15:43:14.711] MC:l_current_max=55
[I 15:43:14.711] MC:l_current_min=-60
[I 15:43:14.711] MC:l_in_current_max=35
[I 15:43:14.711] MC:l_in_current_min=-7
[I 15:43:14.711] MC:l_abs_current_max=80
[I 15:43:14.711] MC:l_min_erpm=-60000
[I 15:43:14.711] MC:l_max_erpm=6238.88
[I 15:43:14.712] MC:l_erpm_start=0.8
[I 15:43:14.712] MC:l_max_erpm_fbrake=300
[I 15:43:14.712] MC:l_max_erpm_fbrake_cc=1500
[I 15:43:14.712] MC:l_min_vin=6
[I 15:43:14.712] MC:l_max_vin=57
[I 15:43:14.712] MC:l_battery_cut_start=42
[I 15:43:14.713] MC:l_battery_cut_end=40
[I 15:43:14.713] MC:l_slow_abs_current=1
[I 15:43:14.713] MC:l_temp_fet_start=60
[I 15:43:14.713] MC:l_temp_fet_end=70
[I 15:43:14.713] MC:l_temp_motor_start=60
[I 15:43:14.713] MC:l_temp_motor_end=70
[I 15:43:14.713] MC:l_temp_accel_dec=0.1
[I 15:43:14.713] MC:l_min_duty=0.005
[I 15:43:14.714] MC:l_max_duty=0.95
[I 15:43:14.714] MC:l_watt_max=15000
[I 15:43:14.714] MC:l_watt_min=-15000
[I 15:43:14.714] MC:sl_min_erpm=150
[I 15:43:14.714] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:43:14.714] MC:sl_max_fullbreak_current_dir_change=10
[I 15:43:14.714] MC:sl_cycle_int_limit=62
[I 15:43:14.714] MC:sl_phase_advance_at_br=0.8
[I 15:43:14.715] MC:sl_cycle_int_rpm_br=80000
[I 15:43:14.715] MC:sl_bemf_coupling_k=600
[I 15:43:14.715] MC:hall_table_0=255
[I 15:43:14.715] MC:hall_table_1=1
[I 15:43:14.715] MC:hall_table_2=3
[I 15:43:14.715] MC:hall_table_3=2
[I 15:43:14.715] MC:hall_table_4=5
[I 15:43:14.715] MC:hall_table_5=6
[I 15:43:14.716] MC:hall_table_6=4
[I 15:43:14.716] MC:hall_table_7=255
[I 15:43:14.716] MC:hall_sl_erpm=2000
[I 15:43:14.716] MC:foc_current_kp=0.005
[I 15:43:14.716] MC:foc_current_ki=13.65
[I 15:43:14.716] MC:foc_f_sw=20000
[I 15:43:14.716] MC:foc_dt_us=0.08
[I 15:43:14.716] MC:foc_encoder_inverted=0
[I 15:43:14.717] MC:foc_encoder_offset=180
[I 15:43:14.717] MC:foc_encoder_ratio=7
[I 15:43:14.717] MC:foc_sensor_mode=2
[I 15:43:14.717] MC:foc_pll_kp=2000
[I 15:43:14.717] MC:foc_pll_ki=40000
[I 15:43:14.717] MC:foc_motor_l=4.96e-06
[I 15:43:14.717] MC:foc_motor_r=0.0137
[I 15:43:14.717] MC:foc_motor_flux_linkage=0.004425
[I 15:43:14.718] MC:foc_observer_gain=5.107e+07
[I 15:43:14.718] MC:foc_observer_gain_slow=0.3
[I 15:43:14.718] MC:foc_duty_dowmramp_kp=10
[I 15:43:14.718] MC:foc_duty_dowmramp_ki=200
[I 15:43:14.718] MC:foc_openloop_rpm=400
[I 15:43:14.719] MC:foc_sl_openloop_hyst=0.1
[I 15:43:14.719] MC:foc_sl_openloop_time=0.1
[I 15:43:14.720] MC:foc_sl_d_current_duty=0
[I 15:43:14.720] MC:foc_sl_d_current_factor=0
[I 15:43:14.720] MC:foc_hall_table0=255
[I 15:43:14.720] MC:foc_hall_table1=52
[I 15:43:14.720] MC:foc_hall_table2=115
[I 15:43:14.720] MC:foc_hall_table3=82
[I 15:43:14.720] MC:foc_hall_table4=179
[I 15:43:14.721] MC:foc_hall_table5=15
[I 15:43:14.721] MC:foc_hall_table6=149
[I 15:43:14.721] MC:foc_hall_table7=255
[I 15:43:14.721] MC:foc_sl_erpm=2500
[I 15:43:14.721] MC:foc_sample_v0_v7=0
[I 15:43:14.721] MC:foc_sample_high_current=0
[I 15:43:14.721] MC:foc_sat_comp=0
[I 15:43:14.721] MC:foc_temp_comp=0
[I 15:43:14.721] MC:foc_temp_comp_base_temp=25
[I 15:43:14.721] MC:foc_current_filter_const=0.1
[I 15:43:14.722] MC:s_pid_kp=0.002
[I 15:43:14.722] MC:s_pid_ki=0.002
[I 15:43:14.722] MC:s_pid_kd=0
[I 15:43:14.722] MC:s_pid_kd_filter=0.2
[I 15:43:14.722] MC:s_pid_min_rpm=900
[I 15:43:14.722] MC:s_pid_allow_braking=1
[I 15:43:14.722] MC:p_pid_kp=0.03
[I 15:43:14.722] MC:p_pid_ki=0
[I 15:43:14.722] MC:p_pid_kd=0.0004
[I 15:43:14.722] MC:p_pid_kd_filter=0.2
[I 15:43:14.722] MC:p_pid_ang_div=1
[I 15:43:14.722] MC:cc_startup_boost_duty=0.01
[I 15:43:14.722] MC:cc_min_current=0.1
[I 15:43:14.723] MC:cc_gain=0.0046
[I 15:43:14.723] MC:cc_ramp_step_max=0.04
[I 15:43:14.723] MC:m_fault_stop_time_ms=500
[I 15:43:14.723] MC:m_duty_ramp_step=0.02
[I 15:43:14.723] MC:m_current_backoff_gain=0.5
[I 15:43:14.723] MC:m_encoder_counts=8192
[I 15:43:14.723] MC:m_sensor_port_mode=0
[I 15:43:14.723] MC:m_invert_direction=0
[I 15:43:14.723] MC:m_drv8301_oc_mode=0
[I 15:43:14.723] MC:m_drv8301_oc_adj=16
[I 15:43:14.723] MC:m_bldc_f_sw_min=3000
[I 15:43:14.724] MC:m_bldc_f_sw_max=40000
[I 15:43:14.724] MC:m_dc_f_sw=35000
[I 15:43:14.724] MC:m_ntc_motor_beta=3380
[I 15:43:14.725] [confs] readAppConfiguration
[I 15:43:14.725] Ask.appConfGet()
[I 15:43:14.804] Stopping configurations timer
[I 15:43:14.805] [confs] GET_APPCONF reply currentId=1
[I 15:43:14.805] Ask.appConfRead()
[I 15:43:14.805] [ask]: conf does not have signature
[I 15:43:14.805] AC:controller_id=1
[I 15:43:14.805] AC:timeout_msec=1000
[I 15:43:14.805] AC:timeout_brake_current=0
[I 15:43:14.805] AC:send_can_status=1
[I 15:43:14.805] AC:send_can_status_rate_hz=200
[I 15:43:14.805] AC:can_baud_rate=2
[I 15:43:14.805] AC:app_to_use=3
[I 15:43:14.805] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:43:14.805] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:43:14.805] AC:app_ppm_conf_hyst=0.15
[I 15:43:14.805] AC:app_ppm_conf_pulse_start=1.145
[I 15:43:14.806] AC:app_ppm_conf_pulse_end=1.938
[I 15:43:14.806] AC:app_ppm_conf_pulse_center=1.538
[I 15:43:14.806] AC:app_ppm_conf_median_filter=1
[I 15:43:14.806] AC:app_ppm_conf_safe_start=1
[I 15:43:14.806] AC:app_ppm_conf_throttle_exp=0.5
[I 15:43:14.806] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:43:14.806] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:43:14.806] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:43:14.806] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:43:14.806] AC:app_ppm_conf_multi_esc=1
[I 15:43:14.806] AC:app_ppm_conf_tc=1
[I 15:43:14.806] AC:app_ppm_conf_tc_max_diff=5000
[I 15:43:14.806] AC:app_adc_conf_ctrl_type=0
[I 15:43:14.806] AC:app_adc_conf_hyst=0.15
[I 15:43:14.806] AC:app_adc_conf_voltage_start=0.9
[I 15:43:14.806] AC:app_adc_conf_voltage_end=3
[I 15:43:14.806] AC:app_adc_conf_voltage_center=2
[I 15:43:14.807] AC:app_adc_conf_voltage2_start=0.9
[I 15:43:14.807] AC:app_adc_conf_voltage2_end=3
[I 15:43:14.807] AC:app_adc_conf_use_filter=1
[I 15:43:14.807] AC:app_adc_conf_safe_start=1
[I 15:43:14.807] AC:app_adc_conf_cc_button_inverted=0
[I 15:43:14.807] AC:app_adc_conf_rev_button_inverted=0
[I 15:43:14.807] AC:app_adc_conf_voltage_inverted=0
[I 15:43:14.807] AC:app_adc_conf_voltage2_inverted=0
[I 15:43:14.807] AC:app_adc_conf_throttle_exp=0
[I 15:43:14.807] AC:app_adc_conf_throttle_exp_brake=0
[I 15:43:14.807] AC:app_adc_conf_throttle_exp_mode=3
[I 15:43:14.807] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:43:14.807] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:43:14.807] AC:app_adc_conf_multi_esc=0
[I 15:43:14.807] AC:app_adc_conf_tc=0
[I 15:43:14.807] AC:app_adc_conf_tc_max_diff=5000
[I 15:43:14.807] AC:app_adc_conf_update_rate_hz=500
[I 15:43:14.807] AC:app_uart_baudrate=9600
[I 15:43:14.808] AC:app_chuk_conf_ctrl_type=1
[I 15:43:14.808] AC:app_chuk_conf_hyst=0.15
[I 15:43:14.808] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:43:14.808] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:43:14.808] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:43:14.808] AC:app_chuk_conf_throttle_exp=0
[I 15:43:14.808] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:43:14.808] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:43:14.808] AC:app_chuk_conf_multi_esc=0
[I 15:43:14.808] AC:app_chuk_conf_tc=0
[I 15:43:14.808] AC:app_chuk_conf_tc_max_diff=5000
[I 15:43:14.808] AC:app_nrf_conf_speed=2
[I 15:43:14.808] AC:app_nrf_conf_power=3
[I 15:43:14.808] AC:app_nrf_conf_crc_type=1
[I 15:43:14.808] AC:app_nrf_conf_retry_delay=0
[I 15:43:14.808] AC:app_nrf_conf_retries=3
[I 15:43:14.808] AC:app_nrf_conf_channel=76
[I 15:43:14.808] AC:app_nrf_conf_address=13027072
[I 15:43:14.809] AC:app_nrf_conf_send_crc_ack=1
[I 15:43:14.809] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:43:14.809] AC:ack_app_ppm_conf_cruise_left=0
[I 15:43:14.809] AC:ack_app_ppm_conf_cruise_right=0
[I 15:43:14.809] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:43:14.809] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:43:14.809] AC:ack_app_adc_conf_tc_offset=3000
[I 15:43:14.809] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:43:14.809] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:43:14.809] [modes] modifying 2 confs
[I 15:43:14.810] [modes] Apply conf:l_max_erpm=13369.026512052813
[I 15:43:14.810] [modes] Apply conf:l_current_max=55
[I 15:43:14.810] [modes] Apply conf:l_current_min=-60
[I 15:43:14.811] [modes] Apply conf:l_in_current_max=35
[I 15:43:14.811] [modes] Apply conf:l_in_current_min=-7
[I 15:43:14.811] [modes] Apply conf:l_temp_fet_start=60
[I 15:43:14.811] [modes] Apply conf:l_temp_fet_end=70
[I 15:43:14.811] [modes] Apply conf:l_temp_motor_start=60
[I 15:43:14.811] [modes] Apply conf:l_temp_motor_end=70
[I 15:43:14.811] [modes] Apply conf:l_watt_max=15000
[I 15:43:14.811] [modes] Apply conf:l_watt_min=-15000
[I 15:43:14.811] [modes] Apply conf:l_abs_current_max=80
[I 15:43:14.812] [modes] Apply conf:l_battery_cut_start=42
[I 15:43:14.827] [modes] Apply conf:l_battery_cut_end=40
[I 15:43:14.827] [modes] Apply conf:l_max_erpm=13369.026512052813
[I 15:43:14.827] [modes] Apply conf:l_current_max=55
[I 15:43:14.827] [modes] Apply conf:l_current_min=-60
[I 15:43:14.827] [modes] Apply conf:l_in_current_max=35
[I 15:43:14.827] [modes] Apply conf:l_in_current_min=-7
[I 15:43:14.828] [modes] Apply conf:l_temp_fet_start=60
[I 15:43:14.828] [modes] Apply conf:l_temp_fet_end=70
[I 15:43:14.828] [modes] Apply conf:l_temp_motor_start=60
[I 15:43:14.828] [modes] Apply conf:l_temp_motor_end=70
[I 15:43:14.828] [modes] Apply conf:l_watt_max=15000
[I 15:43:14.828] [modes] Apply conf:l_watt_min=-15000
[I 15:43:14.828] [modes] Apply conf:l_abs_current_max=80
[I 15:43:14.828] [modes] Apply conf:l_battery_cut_start=42
[I 15:43:14.828] [modes] Apply conf:l_battery_cut_end=40
[I 15:43:14.829] [confs] write()
[I 15:43:14.829] [confs] writeMotorConfiguration
[I 15:43:14.829] Ask.motorConfWrite()
[I 15:43:14.829] MC:pwm_mode=1
[I 15:43:14.829] MC:comm_mode=0
[I 15:43:14.829] MC:motor_type=2
[I 15:43:14.829] MC:sensor_mode=2
[I 15:43:14.829] MC:l_current_max=55
[I 15:43:14.829] MC:l_current_min=-60
[I 15:43:14.829] MC:l_in_current_max=35
[I 15:43:14.829] MC:l_in_current_min=-7
[I 15:43:14.829] MC:l_abs_current_max=80
[I 15:43:14.829] MC:l_min_erpm=-60000
[I 15:43:14.829] MC:l_max_erpm=13369.026512052813
[I 15:43:14.829] MC:l_erpm_start=0.8
[I 15:43:14.829] MC:l_max_erpm_fbrake=300
[I 15:43:14.829] MC:l_max_erpm_fbrake_cc=1500
[I 15:43:14.829] MC:l_min_vin=6
[I 15:43:14.829] MC:l_max_vin=57
[I 15:43:14.829] MC:l_battery_cut_start=42
[I 15:43:14.829] MC:l_battery_cut_end=40
[I 15:43:14.829] MC:l_slow_abs_current=1
[I 15:43:14.829] MC:l_temp_fet_start=60
[I 15:43:14.829] MC:l_temp_fet_end=70
[I 15:43:14.829] MC:l_temp_motor_start=60
[I 15:43:14.829] MC:l_temp_motor_end=70
[I 15:43:14.829] MC:l_temp_accel_dec=0.1
[I 15:43:14.829] MC:l_min_duty=0.005
[I 15:43:14.829] MC:l_max_duty=0.95
[I 15:43:14.829] MC:l_watt_max=15000
[I 15:43:14.829] MC:l_watt_min=-15000
[I 15:43:14.829] MC:sl_min_erpm=150
[I 15:43:14.829] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:43:14.829] MC:sl_max_fullbreak_current_dir_change=10
[I 15:43:14.829] MC:sl_cycle_int_limit=62
[I 15:43:14.829] MC:sl_phase_advance_at_br=0.8
[I 15:43:14.829] MC:sl_cycle_int_rpm_br=80000
[I 15:43:14.829] MC:sl_bemf_coupling_k=600
[I 15:43:14.829] MC:hall_table_0=255
[I 15:43:14.829] MC:hall_table_1=1
[I 15:43:14.829] MC:hall_table_2=3
[I 15:43:14.829] MC:hall_table_3=2
[I 15:43:14.829] MC:hall_table_4=5
[I 15:43:14.829] MC:hall_table_5=6
[I 15:43:14.829] MC:hall_table_6=4
[I 15:43:14.829] MC:hall_table_7=255
[I 15:43:14.829] MC:hall_sl_erpm=2000
[I 15:43:14.829] MC:foc_current_kp=0.0044
[I 15:43:14.829] MC:foc_current_ki=13.95
[I 15:43:14.829] MC:foc_f_sw=20000
[I 15:43:14.829] MC:foc_dt_us=0.08
[I 15:43:14.829] MC:foc_encoder_inverted=0
[I 15:43:14.829] MC:foc_encoder_offset=180
[I 15:43:14.829] MC:foc_encoder_ratio=7
[I 15:43:14.829] MC:foc_sensor_mode=2
[I 15:43:14.830] MC:foc_pll_kp=2000
[I 15:43:14.830] MC:foc_pll_ki=40000
[I 15:43:14.830] MC:foc_motor_l=4.37e-06
[I 15:43:14.830] MC:foc_motor_r=0.0139
[I 15:43:14.830] MC:foc_motor_flux_linkage=0.004444
[I 15:43:14.830] MC:foc_observer_gain=5.064e+07
[I 15:43:14.830] MC:foc_observer_gain_slow=0.3
[I 15:43:14.830] MC:foc_duty_dowmramp_kp=10
[I 15:43:14.830] MC:foc_duty_dowmramp_ki=200
[I 15:43:14.830] MC:foc_openloop_rpm=400
[I 15:43:14.830] MC:foc_sl_openloop_hyst=0.1
[I 15:43:14.830] MC:foc_sl_openloop_time=0.1
[I 15:43:14.830] MC:foc_sl_d_current_duty=0
[I 15:43:14.830] MC:foc_sl_d_current_factor=0
[I 15:43:14.830] MC:foc_hall_table0=255
[I 15:43:14.830] MC:foc_hall_table1=86
[I 15:43:14.830] MC:foc_hall_table2=17
[I 15:43:14.830] MC:foc_hall_table3=56
[I 15:43:14.830] MC:foc_hall_table4=155
[I 15:43:14.830] MC:foc_hall_table5=119
[I 15:43:14.830] MC:foc_hall_table6=183
[I 15:43:14.830] MC:foc_hall_table7=255
[I 15:43:14.830] MC:foc_sl_erpm=2500
[I 15:43:14.830] MC:foc_sample_v0_v7=0
[I 15:43:14.830] MC:foc_sample_high_current=0
[I 15:43:14.830] MC:foc_sat_comp=0
[I 15:43:14.830] MC:foc_temp_comp=0
[I 15:43:14.830] MC:foc_temp_comp_base_temp=25
[I 15:43:14.830] MC:foc_current_filter_const=0.1
[I 15:43:14.830] MC:s_pid_kp=0.002
[I 15:43:14.830] MC:s_pid_ki=0.002
[I 15:43:14.830] MC:s_pid_kd=0
[I 15:43:14.830] MC:s_pid_kd_filter=0.2
[I 15:43:14.830] MC:s_pid_min_rpm=900
[I 15:43:14.830] MC:s_pid_allow_braking=1
[I 15:43:14.830] MC:p_pid_kp=0.03
[I 15:43:14.830] MC:p_pid_ki=0
[I 15:43:14.830] MC:p_pid_kd=0.0004
[I 15:43:14.830] MC:p_pid_kd_filter=0.2
[I 15:43:14.830] MC:p_pid_ang_div=1
[I 15:43:14.830] MC:cc_startup_boost_duty=0.01
[I 15:43:14.830] MC:cc_min_current=0.1
[I 15:43:14.830] MC:cc_gain=0.0046
[I 15:43:14.830] MC:cc_ramp_step_max=0.04
[I 15:43:14.830] MC:m_fault_stop_time_ms=500
[I 15:43:14.830] MC:m_duty_ramp_step=0.02
[I 15:43:14.830] MC:m_current_backoff_gain=0.5
[I 15:43:14.830] MC:m_encoder_counts=8192
[I 15:43:14.830] MC:m_sensor_port_mode=0
[I 15:43:14.830] MC:m_invert_direction=0
[I 15:43:14.830] MC:m_drv8301_oc_mode=0
[I 15:43:14.830] MC:m_drv8301_oc_adj=16
[I 15:43:14.830] MC:m_bldc_f_sw_min=3000
[I 15:43:14.830] MC:m_bldc_f_sw_max=40000
[I 15:43:14.830] MC:m_dc_f_sw=35000
[I 15:43:14.830] MC:m_ntc_motor_beta=3380
[I 15:43:15.374] Stopping configurations timer
[I 15:43:15.374] [confs] SET_MCCONF reply currentId=0
[I 15:43:15.375] Ask.appConfWrite()
[I 15:43:15.375] AC:controller_id=0
[I 15:43:15.376] AC:timeout_msec=1000
[I 15:43:15.376] AC:timeout_brake_current=0
[I 15:43:15.376] AC:send_can_status=1
[I 15:43:15.376] AC:send_can_status_rate_hz=200
[I 15:43:15.376] AC:can_baud_rate=2
[I 15:43:15.376] AC:app_to_use=4
[I 15:43:15.376] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:43:15.376] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:43:15.377] AC:app_ppm_conf_hyst=0.15
[I 15:43:15.377] AC:app_ppm_conf_pulse_start=1.145
[I 15:43:15.377] AC:app_ppm_conf_pulse_end=1.938
[I 15:43:15.377] AC:app_ppm_conf_pulse_center=1.538
[I 15:43:15.377] AC:app_ppm_conf_median_filter=1
[I 15:43:15.377] AC:app_ppm_conf_safe_start=1
[I 15:43:15.377] AC:app_ppm_conf_throttle_exp=0.85
[I 15:43:15.378] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:43:15.378] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:43:15.378] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:43:15.378] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:43:15.378] AC:app_ppm_conf_multi_esc=1
[I 15:43:15.378] AC:app_ppm_conf_tc=1
[I 15:43:15.378] AC:app_ppm_conf_tc_max_diff=5000
[I 15:43:15.378] AC:app_adc_conf_ctrl_type=0
[I 15:43:15.379] AC:app_adc_conf_hyst=0.15
[I 15:43:15.379] AC:app_adc_conf_voltage_start=0.9
[I 15:43:15.379] AC:app_adc_conf_voltage_end=3
[I 15:43:15.379] AC:app_adc_conf_voltage_center=2
[I 15:43:15.379] AC:app_adc_conf_voltage2_start=0.9
[I 15:43:15.380] AC:app_adc_conf_voltage2_end=3
[I 15:43:15.380] AC:app_adc_conf_use_filter=1
[I 15:43:15.380] AC:app_adc_conf_safe_start=1
[I 15:43:15.380] AC:app_adc_conf_cc_button_inverted=0
[I 15:43:15.380] AC:app_adc_conf_rev_button_inverted=0
[I 15:43:15.380] AC:app_adc_conf_voltage_inverted=0
[I 15:43:15.380] AC:app_adc_conf_voltage2_inverted=0
[I 15:43:15.381] AC:app_adc_conf_throttle_exp=0
[I 15:43:15.381] AC:app_adc_conf_throttle_exp_brake=0
[I 15:43:15.381] AC:app_adc_conf_throttle_exp_mode=3
[I 15:43:15.381] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:43:15.381] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:43:15.381] AC:app_adc_conf_multi_esc=0
[I 15:43:15.381] AC:app_adc_conf_tc=0
[I 15:43:15.381] AC:app_adc_conf_tc_max_diff=5000
[I 15:43:15.382] AC:app_adc_conf_update_rate_hz=500
[I 15:43:15.382] AC:app_uart_baudrate=115200
[I 15:43:15.382] AC:app_chuk_conf_ctrl_type=1
[I 15:43:15.382] AC:app_chuk_conf_hyst=0.15
[I 15:43:15.382] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:43:15.382] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:43:15.382] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:43:15.382] AC:app_chuk_conf_throttle_exp=0
[I 15:43:15.383] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:43:15.383] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:43:15.383] AC:app_chuk_conf_multi_esc=0
[I 15:43:15.383] AC:app_chuk_conf_tc=0
[I 15:43:15.383] AC:app_chuk_conf_tc_max_diff=5000
[I 15:43:15.383] AC:app_nrf_conf_speed=2
[I 15:43:15.383] AC:app_nrf_conf_power=3
[I 15:43:15.383] AC:app_nrf_conf_crc_type=1
[I 15:43:15.383] AC:app_nrf_conf_retry_delay=0
[I 15:43:15.384] AC:app_nrf_conf_retries=3
[I 15:43:15.384] AC:app_nrf_conf_channel=76
[I 15:43:15.384] AC:app_nrf_conf_address=13027072
[I 15:43:15.384] AC:app_nrf_conf_send_crc_ack=1
[I 15:43:15.384] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:43:15.384] AC:ack_app_ppm_conf_cruise_left=0
[I 15:43:15.384] AC:ack_app_ppm_conf_cruise_right=0
[I 15:43:15.385] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:43:15.385] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:43:15.385] AC:ack_app_adc_conf_tc_offset=3000
[I 15:43:15.385] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:43:15.385] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:43:15.912] Stopping configurations timer
[I 15:43:15.917] [confs] SET_APPCONF reply currentId=0
[I 15:43:15.918] [confs] writeMotorConfiguration
[I 15:43:15.918] Ask.motorConfWrite()
[I 15:43:15.918] MC:pwm_mode=1
[I 15:43:15.918] MC:comm_mode=0
[I 15:43:15.918] MC:motor_type=2
[I 15:43:15.918] MC:sensor_mode=2
[I 15:43:15.918] MC:l_current_max=55
[I 15:43:15.919] MC:l_current_min=-60
[I 15:43:15.919] MC:l_in_current_max=35
[I 15:43:15.919] MC:l_in_current_min=-7
[I 15:43:15.919] MC:l_abs_current_max=80
[I 15:43:15.919] MC:l_min_erpm=-60000
[I 15:43:15.919] MC:l_max_erpm=13369.026512052813
[I 15:43:15.919] MC:l_erpm_start=0.8
[I 15:43:15.919] MC:l_max_erpm_fbrake=300
[I 15:43:15.919] MC:l_max_erpm_fbrake_cc=1500
[I 15:43:15.919] MC:l_min_vin=6
[I 15:43:15.919] MC:l_max_vin=57
[I 15:43:15.919] MC:l_battery_cut_start=42
[I 15:43:15.919] MC:l_battery_cut_end=40
[I 15:43:15.919] MC:l_slow_abs_current=1
[I 15:43:15.919] MC:l_temp_fet_start=60
[I 15:43:15.919] MC:l_temp_fet_end=70
[I 15:43:15.919] MC:l_temp_motor_start=60
[I 15:43:15.919] MC:l_temp_motor_end=70
[I 15:43:15.919] MC:l_temp_accel_dec=0.1
[I 15:43:15.919] MC:l_min_duty=0.005
[I 15:43:15.919] MC:l_max_duty=0.95
[I 15:43:15.919] MC:l_watt_max=15000
[I 15:43:15.919] MC:l_watt_min=-15000
[I 15:43:15.920] MC:sl_min_erpm=150
[I 15:43:15.920] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:43:15.920] MC:sl_max_fullbreak_current_dir_change=10
[I 15:43:15.920] MC:sl_cycle_int_limit=62
[I 15:43:15.920] MC:sl_phase_advance_at_br=0.8
[I 15:43:15.920] MC:sl_cycle_int_rpm_br=80000
[I 15:43:15.920] MC:sl_bemf_coupling_k=600
[I 15:43:15.920] MC:hall_table_0=255
[I 15:43:15.920] MC:hall_table_1=1
[I 15:43:15.920] MC:hall_table_2=3
[I 15:43:15.920] MC:hall_table_3=2
[I 15:43:15.920] MC:hall_table_4=5
[I 15:43:15.920] MC:hall_table_5=6
[I 15:43:15.920] MC:hall_table_6=4
[I 15:43:15.920] MC:hall_table_7=255
[I 15:43:15.920] MC:hall_sl_erpm=2000
[I 15:43:15.920] MC:foc_current_kp=0.005
[I 15:43:15.920] MC:foc_current_ki=13.65
[I 15:43:15.920] MC:foc_f_sw=20000
[I 15:43:15.920] MC:foc_dt_us=0.08
[I 15:43:15.921] MC:foc_encoder_inverted=0
[I 15:43:15.921] MC:foc_encoder_offset=180
[I 15:43:15.921] MC:foc_encoder_ratio=7
[I 15:43:15.921] MC:foc_sensor_mode=2
[I 15:43:15.921] MC:foc_pll_kp=2000
[I 15:43:15.921] MC:foc_pll_ki=40000
[I 15:43:15.921] MC:foc_motor_l=4.96e-06
[I 15:43:15.921] MC:foc_motor_r=0.0137
[I 15:43:15.921] MC:foc_motor_flux_linkage=0.004425
[I 15:43:15.921] MC:foc_observer_gain=5.107e+07
[I 15:43:15.921] MC:foc_observer_gain_slow=0.3
[I 15:43:15.921] MC:foc_duty_dowmramp_kp=10
[I 15:43:15.921] MC:foc_duty_dowmramp_ki=200
[I 15:43:15.921] MC:foc_openloop_rpm=400
[I 15:43:15.921] MC:foc_sl_openloop_hyst=0.1
[I 15:43:15.921] MC:foc_sl_openloop_time=0.1
[I 15:43:15.921] MC:foc_sl_d_current_duty=0
[I 15:43:15.921] MC:foc_sl_d_current_factor=0
[I 15:43:15.921] MC:foc_hall_table0=255
[I 15:43:15.921] MC:foc_hall_table1=52
[I 15:43:15.921] MC:foc_hall_table2=115
[I 15:43:15.921] MC:foc_hall_table3=82
[I 15:43:15.921] MC:foc_hall_table4=179
[I 15:43:15.921] MC:foc_hall_table5=15
[I 15:43:15.921] MC:foc_hall_table6=149
[I 15:43:15.922] MC:foc_hall_table7=255
[I 15:43:15.922] MC:foc_sl_erpm=2500
[I 15:43:15.922] MC:foc_sample_v0_v7=0
[I 15:43:15.922] MC:foc_sample_high_current=0
[I 15:43:15.922] MC:foc_sat_comp=0
[I 15:43:15.922] MC:foc_temp_comp=0
[I 15:43:15.922] MC:foc_temp_comp_base_temp=25
[I 15:43:15.922] MC:foc_current_filter_const=0.1
[I 15:43:15.922] MC:s_pid_kp=0.002
[I 15:43:15.922] MC:s_pid_ki=0.002
[I 15:43:15.922] MC:s_pid_kd=0
[I 15:43:15.922] MC:s_pid_kd_filter=0.2
[I 15:43:15.922] MC:s_pid_min_rpm=900
[I 15:43:15.922] MC:s_pid_allow_braking=1
[I 15:43:15.922] MC:p_pid_kp=0.03
[I 15:43:15.922] MC:p_pid_ki=0
[I 15:43:15.922] MC:p_pid_kd=0.0004
[I 15:43:15.922] MC:p_pid_kd_filter=0.2
[I 15:43:15.922] MC:p_pid_ang_div=1
[I 15:43:15.922] MC:cc_startup_boost_duty=0.01
[I 15:43:15.923] MC:cc_min_current=0.1
[I 15:43:15.923] MC:cc_gain=0.0046
[I 15:43:15.923] MC:cc_ramp_step_max=0.04
[I 15:43:15.923] MC:m_fault_stop_time_ms=500
[I 15:43:15.923] MC:m_duty_ramp_step=0.02
[I 15:43:15.923] MC:m_current_backoff_gain=0.5
[I 15:43:15.923] MC:m_encoder_counts=8192
[I 15:43:15.923] MC:m_sensor_port_mode=0
[I 15:43:15.923] MC:m_invert_direction=0
[I 15:43:15.923] MC:m_drv8301_oc_mode=0
[I 15:43:15.923] MC:m_drv8301_oc_adj=16
[I 15:43:15.923] MC:m_bldc_f_sw_min=3000
[I 15:43:15.923] MC:m_bldc_f_sw_max=40000
[I 15:43:15.923] MC:m_dc_f_sw=35000
[I 15:43:15.923] MC:m_ntc_motor_beta=3380
[I 15:43:16.543] Stopping configurations timer
[I 15:43:16.544] [confs] SET_MCCONF reply currentId=1
[I 15:43:16.544] Ask.appConfWrite()
[I 15:43:16.545] AC:controller_id=1
[I 15:43:16.545] AC:timeout_msec=1000
[I 15:43:16.545] AC:timeout_brake_current=0
[I 15:43:16.545] AC:send_can_status=1
[I 15:43:16.545] AC:send_can_status_rate_hz=200
[I 15:43:16.546] AC:can_baud_rate=2
[I 15:43:16.546] AC:app_to_use=3
[I 15:43:16.546] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:43:16.546] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:43:16.546] AC:app_ppm_conf_hyst=0.15
[I 15:43:16.546] AC:app_ppm_conf_pulse_start=1.145
[I 15:43:16.546] AC:app_ppm_conf_pulse_end=1.938
[I 15:43:16.546] AC:app_ppm_conf_pulse_center=1.538
[I 15:43:16.547] AC:app_ppm_conf_median_filter=1
[I 15:43:16.547] AC:app_ppm_conf_safe_start=1
[I 15:43:16.547] AC:app_ppm_conf_throttle_exp=0.5
[I 15:43:16.547] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:43:16.547] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:43:16.547] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:43:16.547] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:43:16.547] AC:app_ppm_conf_multi_esc=1
[I 15:43:16.548] AC:app_ppm_conf_tc=1
[I 15:43:16.548] AC:app_ppm_conf_tc_max_diff=5000
[I 15:43:16.548] AC:app_adc_conf_ctrl_type=0
[I 15:43:16.548] AC:app_adc_conf_hyst=0.15
[I 15:43:16.548] AC:app_adc_conf_voltage_start=0.9
[I 15:43:16.548] AC:app_adc_conf_voltage_end=3
[I 15:43:16.548] AC:app_adc_conf_voltage_center=2
[I 15:43:16.548] AC:app_adc_conf_voltage2_start=0.9
[I 15:43:16.548] AC:app_adc_conf_voltage2_end=3
[I 15:43:16.549] AC:app_adc_conf_use_filter=1
[I 15:43:16.549] AC:app_adc_conf_safe_start=1
[I 15:43:16.549] AC:app_adc_conf_cc_button_inverted=0
[I 15:43:16.549] AC:app_adc_conf_rev_button_inverted=0
[I 15:43:16.549] AC:app_adc_conf_voltage_inverted=0
[I 15:43:16.549] AC:app_adc_conf_voltage2_inverted=0
[I 15:43:16.549] AC:app_adc_conf_throttle_exp=0
[I 15:43:16.549] AC:app_adc_conf_throttle_exp_brake=0
[I 15:43:16.549] AC:app_adc_conf_throttle_exp_mode=3
[I 15:43:16.549] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:43:16.551] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:43:16.551] AC:app_adc_conf_multi_esc=0
[I 15:43:16.551] AC:app_adc_conf_tc=0
[I 15:43:16.551] AC:app_adc_conf_tc_max_diff=5000
[I 15:43:16.551] AC:app_adc_conf_update_rate_hz=500
[I 15:43:16.551] AC:app_uart_baudrate=9600
[I 15:43:16.551] AC:app_chuk_conf_ctrl_type=1
[I 15:43:16.551] AC:app_chuk_conf_hyst=0.15
[I 15:43:16.551] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:43:16.551] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:43:16.551] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:43:16.551] AC:app_chuk_conf_throttle_exp=0
[I 15:43:16.551] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:43:16.551] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:43:16.551] AC:app_chuk_conf_multi_esc=0
[I 15:43:16.551] AC:app_chuk_conf_tc=0
[I 15:43:16.551] AC:app_chuk_conf_tc_max_diff=5000
[I 15:43:16.551] AC:app_nrf_conf_speed=2
[I 15:43:16.551] AC:app_nrf_conf_power=3
[I 15:43:16.551] AC:app_nrf_conf_crc_type=1
[I 15:43:16.551] AC:app_nrf_conf_retry_delay=0
[I 15:43:16.551] AC:app_nrf_conf_retries=3
[I 15:43:16.551] AC:app_nrf_conf_channel=76
[I 15:43:16.551] AC:app_nrf_conf_address=13027072
[I 15:43:16.551] AC:app_nrf_conf_send_crc_ack=1
[I 15:43:16.551] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:43:16.551] AC:ack_app_ppm_conf_cruise_left=0
[I 15:43:16.551] AC:ack_app_ppm_conf_cruise_right=0
[I 15:43:16.551] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:43:16.551] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:43:16.551] AC:ack_app_adc_conf_tc_offset=3000
[I 15:43:16.551] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:43:16.551] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:43:16.991] Stopping configurations timer
[I 15:43:16.992] [confs] SET_APPCONF reply currentId=1
[I 15:43:16.993] [modes] Finishing apply, applied=true
[I 15:43:16.993] [mm] save()
[I 15:43:17.022] [ds] Saving settings for EC8A9C8C71CF
[I 15:43:17.022] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:43:17.022] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"15","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":true},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:43:17.022] void Settings::endGroup()
[I 15:44:03.253] [modes] editing mode lipo legal
[I 15:44:06.303] [modes] Updating summary for 'lipo legal'
[I 15:44:08.506] createMotorConf FW 3.103
[I 15:44:08.506] [modes] Applying 'lipo'
[I 15:44:08.507] [confs] Initializing 2 configuration containers
[I 15:44:08.507] createMotorConf FW 3.103
[I 15:44:08.507] createMotorConf FW 3.103
[I 15:44:08.509] [confs] read()
[I 15:44:08.509] createMotorConf FW 3.103
[I 15:44:08.511] [confs] readMotorConfiguration
[I 15:44:08.511] Ask.motorConfGet()
[I 15:44:08.692] Stopping configurations timer
[I 15:44:08.693] [confs] GET_MCCONF reply currentId=0
[I 15:44:08.693] Ask.motorConfRead()
[I 15:44:08.693] [ask]: conf does not have signature
[I 15:44:08.693] MC:pwm_mode=1
[I 15:44:08.694] MC:comm_mode=0
[I 15:44:08.694] MC:motor_type=2
[I 15:44:08.694] MC:sensor_mode=2
[I 15:44:08.694] MC:l_current_max=55
[I 15:44:08.695] MC:l_current_min=-60
[I 15:44:08.695] MC:l_in_current_max=35
[I 15:44:08.695] MC:l_in_current_min=-7
[I 15:44:08.695] MC:l_abs_current_max=80
[I 15:44:08.696] MC:l_min_erpm=-60000
[I 15:44:08.696] MC:l_max_erpm=13369
[I 15:44:08.696] MC:l_erpm_start=0.8
[I 15:44:08.696] MC:l_max_erpm_fbrake=300
[I 15:44:08.696] MC:l_max_erpm_fbrake_cc=1500
[I 15:44:08.696] MC:l_min_vin=6
[I 15:44:08.696] MC:l_max_vin=57
[I 15:44:08.697] MC:l_battery_cut_start=42
[I 15:44:08.697] MC:l_battery_cut_end=40
[I 15:44:08.697] MC:l_slow_abs_current=1
[I 15:44:08.697] MC:l_temp_fet_start=60
[I 15:44:08.697] MC:l_temp_fet_end=70
[I 15:44:08.697] MC:l_temp_motor_start=60
[I 15:44:08.698] MC:l_temp_motor_end=70
[I 15:44:08.698] MC:l_temp_accel_dec=0.1
[I 15:44:08.698] MC:l_min_duty=0.005
[I 15:44:08.698] MC:l_max_duty=0.95
[I 15:44:08.699] MC:l_watt_max=15000
[I 15:44:08.699] MC:l_watt_min=-15000
[I 15:44:08.699] MC:sl_min_erpm=150
[I 15:44:08.699] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:44:08.699] MC:sl_max_fullbreak_current_dir_change=10
[I 15:44:08.699] MC:sl_cycle_int_limit=62
[I 15:44:08.700] MC:sl_phase_advance_at_br=0.8
[I 15:44:08.700] MC:sl_cycle_int_rpm_br=80000
[I 15:44:08.700] MC:sl_bemf_coupling_k=600
[I 15:44:08.700] MC:hall_table_0=255
[I 15:44:08.700] MC:hall_table_1=1
[I 15:44:08.701] MC:hall_table_2=3
[I 15:44:08.701] MC:hall_table_3=2
[I 15:44:08.701] MC:hall_table_4=5
[I 15:44:08.701] MC:hall_table_5=6
[I 15:44:08.701] MC:hall_table_6=4
[I 15:44:08.701] MC:hall_table_7=255
[I 15:44:08.701] MC:hall_sl_erpm=2000
[I 15:44:08.702] MC:foc_current_kp=0.0044
[I 15:44:08.702] MC:foc_current_ki=13.95
[I 15:44:08.702] MC:foc_f_sw=20000
[I 15:44:08.702] MC:foc_dt_us=0.08
[I 15:44:08.703] MC:foc_encoder_inverted=0
[I 15:44:08.707] MC:foc_encoder_offset=180
[I 15:44:08.707] MC:foc_encoder_ratio=7
[I 15:44:08.707] MC:foc_sensor_mode=2
[I 15:44:08.707] MC:foc_pll_kp=2000
[I 15:44:08.707] MC:foc_pll_ki=40000
[I 15:44:08.707] MC:foc_motor_l=4.37e-06
[I 15:44:08.708] MC:foc_motor_r=0.0139
[I 15:44:08.708] MC:foc_motor_flux_linkage=0.004444
[I 15:44:08.708] MC:foc_observer_gain=5.064e+07
[I 15:44:08.709] MC:foc_observer_gain_slow=0.3
[I 15:44:08.709] MC:foc_duty_dowmramp_kp=10
[I 15:44:08.709] MC:foc_duty_dowmramp_ki=200
[I 15:44:08.711] MC:foc_openloop_rpm=400
[I 15:44:08.711] MC:foc_sl_openloop_hyst=0.1
[I 15:44:08.711] MC:foc_sl_openloop_time=0.1
[I 15:44:08.711] MC:foc_sl_d_current_duty=0
[I 15:44:08.711] MC:foc_sl_d_current_factor=0
[I 15:44:08.711] MC:foc_hall_table0=255
[I 15:44:08.711] MC:foc_hall_table1=86
[I 15:44:08.711] MC:foc_hall_table2=17
[I 15:44:08.711] MC:foc_hall_table3=56
[I 15:44:08.711] MC:foc_hall_table4=155
[I 15:44:08.711] MC:foc_hall_table5=119
[I 15:44:08.711] MC:foc_hall_table6=183
[I 15:44:08.711] MC:foc_hall_table7=255
[I 15:44:08.711] MC:foc_sl_erpm=2500
[I 15:44:08.711] MC:foc_sample_v0_v7=0
[I 15:44:08.711] MC:foc_sample_high_current=0
[I 15:44:08.711] MC:foc_sat_comp=0
[I 15:44:08.711] MC:foc_temp_comp=0
[I 15:44:08.711] MC:foc_temp_comp_base_temp=25
[I 15:44:08.711] MC:foc_current_filter_const=0.1
[I 15:44:08.711] MC:s_pid_kp=0.002
[I 15:44:08.711] MC:s_pid_ki=0.002
[I 15:44:08.711] MC:s_pid_kd=0
[I 15:44:08.711] MC:s_pid_kd_filter=0.2
[I 15:44:08.711] MC:s_pid_min_rpm=900
[I 15:44:08.711] MC:s_pid_allow_braking=1
[I 15:44:08.711] MC:p_pid_kp=0.03
[I 15:44:08.711] MC:p_pid_ki=0
[I 15:44:08.711] MC:p_pid_kd=0.0004
[I 15:44:08.711] MC:p_pid_kd_filter=0.2
[I 15:44:08.711] MC:p_pid_ang_div=1
[I 15:44:08.712] MC:cc_startup_boost_duty=0.01
[I 15:44:08.712] MC:cc_min_current=0.1
[I 15:44:08.712] MC:cc_gain=0.0046
[I 15:44:08.712] MC:cc_ramp_step_max=0.04
[I 15:44:08.712] MC:m_fault_stop_time_ms=500
[I 15:44:08.712] MC:m_duty_ramp_step=0.02
[I 15:44:08.712] MC:m_current_backoff_gain=0.5
[I 15:44:08.712] MC:m_encoder_counts=8192
[I 15:44:08.712] MC:m_sensor_port_mode=0
[I 15:44:08.712] MC:m_invert_direction=0
[I 15:44:08.712] MC:m_drv8301_oc_mode=0
[I 15:44:08.712] MC:m_drv8301_oc_adj=16
[I 15:44:08.712] MC:m_bldc_f_sw_min=3000
[I 15:44:08.712] MC:m_bldc_f_sw_max=40000
[I 15:44:08.712] MC:m_dc_f_sw=35000
[I 15:44:08.712] MC:m_ntc_motor_beta=3380
[I 15:44:08.713] [confs] readAppConfiguration
[I 15:44:08.713] Ask.appConfGet()
[I 15:44:08.835] Stopping configurations timer
[I 15:44:08.835] [confs] GET_APPCONF reply currentId=0
[I 15:44:08.835] Ask.appConfRead()
[I 15:44:08.835] [ask]: conf does not have signature
[I 15:44:08.835] AC:controller_id=0
[I 15:44:08.835] AC:timeout_msec=1000
[I 15:44:08.835] AC:timeout_brake_current=0
[I 15:44:08.835] AC:send_can_status=1
[I 15:44:08.835] AC:send_can_status_rate_hz=200
[I 15:44:08.835] AC:can_baud_rate=2
[I 15:44:08.835] AC:app_to_use=4
[I 15:44:08.835] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:44:08.836] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:44:08.836] AC:app_ppm_conf_hyst=0.15
[I 15:44:08.836] AC:app_ppm_conf_pulse_start=1.145
[I 15:44:08.836] AC:app_ppm_conf_pulse_end=1.938
[I 15:44:08.836] AC:app_ppm_conf_pulse_center=1.538
[I 15:44:08.836] AC:app_ppm_conf_median_filter=1
[I 15:44:08.836] AC:app_ppm_conf_safe_start=1
[I 15:44:08.836] AC:app_ppm_conf_throttle_exp=0.85
[I 15:44:08.836] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:44:08.836] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:44:08.836] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:44:08.836] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:44:08.836] AC:app_ppm_conf_multi_esc=1
[I 15:44:08.836] AC:app_ppm_conf_tc=1
[I 15:44:08.836] AC:app_ppm_conf_tc_max_diff=5000
[I 15:44:08.836] AC:app_adc_conf_ctrl_type=0
[I 15:44:08.836] AC:app_adc_conf_hyst=0.15
[I 15:44:08.836] AC:app_adc_conf_voltage_start=0.9
[I 15:44:08.836] AC:app_adc_conf_voltage_end=3
[I 15:44:08.836] AC:app_adc_conf_voltage_center=2
[I 15:44:08.836] AC:app_adc_conf_voltage2_start=0.9
[I 15:44:08.836] AC:app_adc_conf_voltage2_end=3
[I 15:44:08.836] AC:app_adc_conf_use_filter=1
[I 15:44:08.837] AC:app_adc_conf_safe_start=1
[I 15:44:08.837] AC:app_adc_conf_cc_button_inverted=0
[I 15:44:08.837] AC:app_adc_conf_rev_button_inverted=0
[I 15:44:08.837] AC:app_adc_conf_voltage_inverted=0
[I 15:44:08.837] AC:app_adc_conf_voltage2_inverted=0
[I 15:44:08.837] AC:app_adc_conf_throttle_exp=0
[I 15:44:08.837] AC:app_adc_conf_throttle_exp_brake=0
[I 15:44:08.837] AC:app_adc_conf_throttle_exp_mode=3
[I 15:44:08.837] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:44:08.837] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:44:08.837] AC:app_adc_conf_multi_esc=0
[I 15:44:08.837] AC:app_adc_conf_tc=0
[I 15:44:08.837] AC:app_adc_conf_tc_max_diff=5000
[I 15:44:08.837] AC:app_adc_conf_update_rate_hz=500
[I 15:44:08.837] AC:app_uart_baudrate=115200
[I 15:44:08.837] AC:app_chuk_conf_ctrl_type=1
[I 15:44:08.837] AC:app_chuk_conf_hyst=0.15
[I 15:44:08.837] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:44:08.837] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:44:08.837] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:44:08.837] AC:app_chuk_conf_throttle_exp=0
[I 15:44:08.837] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:44:08.837] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:44:08.837] AC:app_chuk_conf_multi_esc=0
[I 15:44:08.838] AC:app_chuk_conf_tc=0
[I 15:44:08.838] AC:app_chuk_conf_tc_max_diff=5000
[I 15:44:08.838] AC:app_nrf_conf_speed=2
[I 15:44:08.838] AC:app_nrf_conf_power=3
[I 15:44:08.838] AC:app_nrf_conf_crc_type=1
[I 15:44:08.838] AC:app_nrf_conf_retry_delay=0
[I 15:44:08.838] AC:app_nrf_conf_retries=3
[I 15:44:08.838] AC:app_nrf_conf_channel=76
[I 15:44:08.838] AC:app_nrf_conf_address=13027072
[I 15:44:08.838] AC:app_nrf_conf_send_crc_ack=1
[I 15:44:08.838] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:44:08.838] AC:ack_app_ppm_conf_cruise_left=0
[I 15:44:08.838] AC:ack_app_ppm_conf_cruise_right=0
[I 15:44:08.838] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:44:08.838] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:44:08.838] AC:ack_app_adc_conf_tc_offset=3000
[I 15:44:08.838] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:44:08.838] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:44:08.839] [confs] readMotorConfiguration
[I 15:44:08.839] Ask.motorConfGet()
[I 15:44:09.042] Stopping configurations timer
[I 15:44:09.042] [confs] GET_MCCONF reply currentId=1
[I 15:44:09.042] Ask.motorConfRead()
[I 15:44:09.042] [ask]: conf does not have signature
[I 15:44:09.042] MC:pwm_mode=1
[I 15:44:09.042] MC:comm_mode=0
[I 15:44:09.042] MC:motor_type=2
[I 15:44:09.042] MC:sensor_mode=2
[I 15:44:09.043] MC:l_current_max=55
[I 15:44:09.043] MC:l_current_min=-60
[I 15:44:09.043] MC:l_in_current_max=35
[I 15:44:09.043] MC:l_in_current_min=-7
[I 15:44:09.043] MC:l_abs_current_max=80
[I 15:44:09.043] MC:l_min_erpm=-60000
[I 15:44:09.043] MC:l_max_erpm=13369
[I 15:44:09.043] MC:l_erpm_start=0.8
[I 15:44:09.043] MC:l_max_erpm_fbrake=300
[I 15:44:09.043] MC:l_max_erpm_fbrake_cc=1500
[I 15:44:09.043] MC:l_min_vin=6
[I 15:44:09.043] MC:l_max_vin=57
[I 15:44:09.044] MC:l_battery_cut_start=42
[I 15:44:09.044] MC:l_battery_cut_end=40
[I 15:44:09.044] MC:l_slow_abs_current=1
[I 15:44:09.044] MC:l_temp_fet_start=60
[I 15:44:09.044] MC:l_temp_fet_end=70
[I 15:44:09.044] MC:l_temp_motor_start=60
[I 15:44:09.044] MC:l_temp_motor_end=70
[I 15:44:09.044] MC:l_temp_accel_dec=0.1
[I 15:44:09.044] MC:l_min_duty=0.005
[I 15:44:09.044] MC:l_max_duty=0.95
[I 15:44:09.045] MC:l_watt_max=15000
[I 15:44:09.045] MC:l_watt_min=-15000
[I 15:44:09.045] MC:sl_min_erpm=150
[I 15:44:09.045] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:44:09.045] MC:sl_max_fullbreak_current_dir_change=10
[I 15:44:09.045] MC:sl_cycle_int_limit=62
[I 15:44:09.045] MC:sl_phase_advance_at_br=0.8
[I 15:44:09.047] MC:sl_cycle_int_rpm_br=80000
[I 15:44:09.047] MC:sl_bemf_coupling_k=600
[I 15:44:09.047] MC:hall_table_0=255
[I 15:44:09.047] MC:hall_table_1=1
[I 15:44:09.047] MC:hall_table_2=3
[I 15:44:09.047] MC:hall_table_3=2
[I 15:44:09.047] MC:hall_table_4=5
[I 15:44:09.047] MC:hall_table_5=6
[I 15:44:09.047] MC:hall_table_6=4
[I 15:44:09.047] MC:hall_table_7=255
[I 15:44:09.047] MC:hall_sl_erpm=2000
[I 15:44:09.047] MC:foc_current_kp=0.005
[I 15:44:09.047] MC:foc_current_ki=13.65
[I 15:44:09.048] MC:foc_f_sw=20000
[I 15:44:09.048] MC:foc_dt_us=0.08
[I 15:44:09.048] MC:foc_encoder_inverted=0
[I 15:44:09.048] MC:foc_encoder_offset=180
[I 15:44:09.048] MC:foc_encoder_ratio=7
[I 15:44:09.048] MC:foc_sensor_mode=2
[I 15:44:09.048] MC:foc_pll_kp=2000
[I 15:44:09.048] MC:foc_pll_ki=40000
[I 15:44:09.048] MC:foc_motor_l=4.96e-06
[I 15:44:09.048] MC:foc_motor_r=0.0137
[I 15:44:09.048] MC:foc_motor_flux_linkage=0.004425
[I 15:44:09.048] MC:foc_observer_gain=5.107e+07
[I 15:44:09.048] MC:foc_observer_gain_slow=0.3
[I 15:44:09.049] MC:foc_duty_dowmramp_kp=10
[I 15:44:09.049] MC:foc_duty_dowmramp_ki=200
[I 15:44:09.049] MC:foc_openloop_rpm=400
[I 15:44:09.049] MC:foc_sl_openloop_hyst=0.1
[I 15:44:09.049] MC:foc_sl_openloop_time=0.1
[I 15:44:09.049] MC:foc_sl_d_current_duty=0
[I 15:44:09.049] MC:foc_sl_d_current_factor=0
[I 15:44:09.049] MC:foc_hall_table0=255
[I 15:44:09.049] MC:foc_hall_table1=52
[I 15:44:09.049] MC:foc_hall_table2=115
[I 15:44:09.049] MC:foc_hall_table3=82
[I 15:44:09.049] MC:foc_hall_table4=179
[I 15:44:09.049] MC:foc_hall_table5=15
[I 15:44:09.049] MC:foc_hall_table6=149
[I 15:44:09.051] MC:foc_hall_table7=255
[I 15:44:09.051] MC:foc_sl_erpm=2500
[I 15:44:09.051] MC:foc_sample_v0_v7=0
[I 15:44:09.051] MC:foc_sample_high_current=0
[I 15:44:09.051] MC:foc_sat_comp=0
[I 15:44:09.051] MC:foc_temp_comp=0
[I 15:44:09.051] MC:foc_temp_comp_base_temp=25
[I 15:44:09.051] MC:foc_current_filter_const=0.1
[I 15:44:09.051] MC:s_pid_kp=0.002
[I 15:44:09.051] MC:s_pid_ki=0.002
[I 15:44:09.051] MC:s_pid_kd=0
[I 15:44:09.051] MC:s_pid_kd_filter=0.2
[I 15:44:09.051] MC:s_pid_min_rpm=900
[I 15:44:09.051] MC:s_pid_allow_braking=1
[I 15:44:09.051] MC:p_pid_kp=0.03
[I 15:44:09.051] MC:p_pid_ki=0
[I 15:44:09.051] MC:p_pid_kd=0.0004
[I 15:44:09.051] MC:p_pid_kd_filter=0.2
[I 15:44:09.051] MC:p_pid_ang_div=1
[I 15:44:09.051] MC:cc_startup_boost_duty=0.01
[I 15:44:09.051] MC:cc_min_current=0.1
[I 15:44:09.051] MC:cc_gain=0.0046
[I 15:44:09.051] MC:cc_ramp_step_max=0.04
[I 15:44:09.051] MC:m_fault_stop_time_ms=500
[I 15:44:09.051] MC:m_duty_ramp_step=0.02
[I 15:44:09.051] MC:m_current_backoff_gain=0.5
[I 15:44:09.051] MC:m_encoder_counts=8192
[I 15:44:09.051] MC:m_sensor_port_mode=0
[I 15:44:09.051] MC:m_invert_direction=0
[I 15:44:09.051] MC:m_drv8301_oc_mode=0
[I 15:44:09.051] MC:m_drv8301_oc_adj=16
[I 15:44:09.051] MC:m_bldc_f_sw_min=3000
[I 15:44:09.051] MC:m_bldc_f_sw_max=40000
[I 15:44:09.051] MC:m_dc_f_sw=35000
[I 15:44:09.051] MC:m_ntc_motor_beta=3380
[I 15:44:09.052] [confs] readAppConfiguration
[I 15:44:09.052] Ask.appConfGet()
[I 15:44:09.101] Stopping configurations timer
[I 15:44:09.101] [confs] GET_APPCONF reply currentId=1
[I 15:44:09.101] Ask.appConfRead()
[I 15:44:09.102] [ask]: conf does not have signature
[I 15:44:09.102] AC:controller_id=1
[I 15:44:09.102] AC:timeout_msec=1000
[I 15:44:09.102] AC:timeout_brake_current=0
[I 15:44:09.102] AC:send_can_status=1
[I 15:44:09.102] AC:send_can_status_rate_hz=200
[I 15:44:09.102] AC:can_baud_rate=2
[I 15:44:09.102] AC:app_to_use=3
[I 15:44:09.102] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:44:09.102] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:44:09.102] AC:app_ppm_conf_hyst=0.15
[I 15:44:09.102] AC:app_ppm_conf_pulse_start=1.145
[I 15:44:09.102] AC:app_ppm_conf_pulse_end=1.938
[I 15:44:09.102] AC:app_ppm_conf_pulse_center=1.538
[I 15:44:09.102] AC:app_ppm_conf_median_filter=1
[I 15:44:09.102] AC:app_ppm_conf_safe_start=1
[I 15:44:09.102] AC:app_ppm_conf_throttle_exp=0.5
[I 15:44:09.102] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:44:09.102] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:44:09.102] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:44:09.102] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:44:09.103] AC:app_ppm_conf_multi_esc=1
[I 15:44:09.103] AC:app_ppm_conf_tc=1
[I 15:44:09.103] AC:app_ppm_conf_tc_max_diff=5000
[I 15:44:09.103] AC:app_adc_conf_ctrl_type=0
[I 15:44:09.103] AC:app_adc_conf_hyst=0.15
[I 15:44:09.103] AC:app_adc_conf_voltage_start=0.9
[I 15:44:09.103] AC:app_adc_conf_voltage_end=3
[I 15:44:09.103] AC:app_adc_conf_voltage_center=2
[I 15:44:09.103] AC:app_adc_conf_voltage2_start=0.9
[I 15:44:09.103] AC:app_adc_conf_voltage2_end=3
[I 15:44:09.103] AC:app_adc_conf_use_filter=1
[I 15:44:09.103] AC:app_adc_conf_safe_start=1
[I 15:44:09.103] AC:app_adc_conf_cc_button_inverted=0
[I 15:44:09.103] AC:app_adc_conf_rev_button_inverted=0
[I 15:44:09.103] AC:app_adc_conf_voltage_inverted=0
[I 15:44:09.103] AC:app_adc_conf_voltage2_inverted=0
[I 15:44:09.103] AC:app_adc_conf_throttle_exp=0
[I 15:44:09.103] AC:app_adc_conf_throttle_exp_brake=0
[I 15:44:09.103] AC:app_adc_conf_throttle_exp_mode=3
[I 15:44:09.103] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:44:09.103] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:44:09.104] AC:app_adc_conf_multi_esc=0
[I 15:44:09.104] AC:app_adc_conf_tc=0
[I 15:44:09.104] AC:app_adc_conf_tc_max_diff=5000
[I 15:44:09.104] AC:app_adc_conf_update_rate_hz=500
[I 15:44:09.104] AC:app_uart_baudrate=9600
[I 15:44:09.104] AC:app_chuk_conf_ctrl_type=1
[I 15:44:09.104] AC:app_chuk_conf_hyst=0.15
[I 15:44:09.104] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:44:09.104] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:44:09.104] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:44:09.104] AC:app_chuk_conf_throttle_exp=0
[I 15:44:09.104] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:44:09.104] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:44:09.104] AC:app_chuk_conf_multi_esc=0
[I 15:44:09.104] AC:app_chuk_conf_tc=0
[I 15:44:09.104] AC:app_chuk_conf_tc_max_diff=5000
[I 15:44:09.104] AC:app_nrf_conf_speed=2
[I 15:44:09.104] AC:app_nrf_conf_power=3
[I 15:44:09.104] AC:app_nrf_conf_crc_type=1
[I 15:44:09.104] AC:app_nrf_conf_retry_delay=0
[I 15:44:09.104] AC:app_nrf_conf_retries=3
[I 15:44:09.105] AC:app_nrf_conf_channel=76
[I 15:44:09.105] AC:app_nrf_conf_address=13027072
[I 15:44:09.105] AC:app_nrf_conf_send_crc_ack=1
[I 15:44:09.105] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:44:09.105] AC:ack_app_ppm_conf_cruise_left=0
[I 15:44:09.105] AC:ack_app_ppm_conf_cruise_right=0
[I 15:44:09.105] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:44:09.105] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:44:09.105] AC:ack_app_adc_conf_tc_offset=3000
[I 15:44:09.105] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:44:09.105] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:44:09.106] [modes] modifying 2 confs
[I 15:44:09.106] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 15:44:09.106] [modes] Apply conf:l_current_max=70
[I 15:44:09.107] [modes] Apply conf:l_current_min=-70
[I 15:44:09.107] [modes] Apply conf:l_in_current_max=35
[I 15:44:09.107] [modes] Apply conf:l_in_current_min=-7
[I 15:44:09.107] [modes] Apply conf:l_temp_fet_start=85
[I 15:44:09.108] [modes] Apply conf:l_temp_fet_end=100
[I 15:44:09.108] [modes] Apply conf:l_temp_motor_start=85
[I 15:44:09.108] [modes] Apply conf:l_temp_motor_end=100
[I 15:44:09.109] [modes] Apply conf:l_abs_current_max=130
[I 15:44:09.109] [modes] Apply conf:l_min_vin=6
[I 15:44:09.109] [modes] Apply conf:l_max_vin=57
[I 15:44:09.109] [modes] Apply conf:l_battery_cut_start=42
[I 15:44:09.110] [modes] Apply conf:l_battery_cut_end=40
[I 15:44:09.111] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 15:44:09.111] [modes] Apply conf:l_current_max=70
[I 15:44:09.111] [modes] Apply conf:l_current_min=-70
[I 15:44:09.111] [modes] Apply conf:l_in_current_max=35
[I 15:44:09.111] [modes] Apply conf:l_in_current_min=-7
[I 15:44:09.111] [modes] Apply conf:l_temp_fet_start=85
[I 15:44:09.124] [modes] Apply conf:l_temp_fet_end=100
[I 15:44:09.124] [modes] Apply conf:l_temp_motor_start=85
[I 15:44:09.124] [modes] Apply conf:l_temp_motor_end=100
[I 15:44:09.125] [modes] Apply conf:l_abs_current_max=130
[I 15:44:09.125] [modes] Apply conf:l_min_vin=6
[I 15:44:09.125] [modes] Apply conf:l_max_vin=57
[I 15:44:09.125] [modes] Apply conf:l_battery_cut_start=42
[I 15:44:09.125] [modes] Apply conf:l_battery_cut_end=40
[I 15:44:09.125] [confs] write()
[I 15:44:09.126] [confs] writeMotorConfiguration
[I 15:44:09.126] Ask.motorConfWrite()
[I 15:44:09.126] MC:pwm_mode=1
[I 15:44:09.126] MC:comm_mode=0
[I 15:44:09.126] MC:motor_type=2
[I 15:44:09.126] MC:sensor_mode=2
[I 15:44:09.126] MC:l_current_max=70
[I 15:44:09.126] MC:l_current_min=-70
[I 15:44:09.126] MC:l_in_current_max=35
[I 15:44:09.126] MC:l_in_current_min=-7
[I 15:44:09.126] MC:l_abs_current_max=130
[I 15:44:09.126] MC:l_min_erpm=-60000
[I 15:44:09.126] MC:l_max_erpm=49019.76387752697
[I 15:44:09.126] MC:l_erpm_start=0.8
[I 15:44:09.126] MC:l_max_erpm_fbrake=300
[I 15:44:09.126] MC:l_max_erpm_fbrake_cc=1500
[I 15:44:09.126] MC:l_min_vin=6
[I 15:44:09.126] MC:l_max_vin=57
[I 15:44:09.126] MC:l_battery_cut_start=42
[I 15:44:09.126] MC:l_battery_cut_end=40
[I 15:44:09.126] MC:l_slow_abs_current=1
[I 15:44:09.126] MC:l_temp_fet_start=85
[I 15:44:09.126] MC:l_temp_fet_end=100
[I 15:44:09.126] MC:l_temp_motor_start=85
[I 15:44:09.126] MC:l_temp_motor_end=100
[I 15:44:09.126] MC:l_temp_accel_dec=0.1
[I 15:44:09.126] MC:l_min_duty=0.005
[I 15:44:09.126] MC:l_max_duty=0.95
[I 15:44:09.126] MC:l_watt_max=15000
[I 15:44:09.126] MC:l_watt_min=-15000
[I 15:44:09.126] MC:sl_min_erpm=150
[I 15:44:09.126] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:44:09.126] MC:sl_max_fullbreak_current_dir_change=10
[I 15:44:09.126] MC:sl_cycle_int_limit=62
[I 15:44:09.126] MC:sl_phase_advance_at_br=0.8
[I 15:44:09.126] MC:sl_cycle_int_rpm_br=80000
[I 15:44:09.126] MC:sl_bemf_coupling_k=600
[I 15:44:09.126] MC:hall_table_0=255
[I 15:44:09.126] MC:hall_table_1=1
[I 15:44:09.126] MC:hall_table_2=3
[I 15:44:09.126] MC:hall_table_3=2
[I 15:44:09.126] MC:hall_table_4=5
[I 15:44:09.126] MC:hall_table_5=6
[I 15:44:09.126] MC:hall_table_6=4
[I 15:44:09.126] MC:hall_table_7=255
[I 15:44:09.126] MC:hall_sl_erpm=2000
[I 15:44:09.126] MC:foc_current_kp=0.0044
[I 15:44:09.126] MC:foc_current_ki=13.95
[I 15:44:09.126] MC:foc_f_sw=20000
[I 15:44:09.126] MC:foc_dt_us=0.08
[I 15:44:09.126] MC:foc_encoder_inverted=0
[I 15:44:09.126] MC:foc_encoder_offset=180
[I 15:44:09.126] MC:foc_encoder_ratio=7
[I 15:44:09.126] MC:foc_sensor_mode=2
[I 15:44:09.126] MC:foc_pll_kp=2000
[I 15:44:09.126] MC:foc_pll_ki=40000
[I 15:44:09.126] MC:foc_motor_l=4.37e-06
[I 15:44:09.126] MC:foc_motor_r=0.0139
[I 15:44:09.126] MC:foc_motor_flux_linkage=0.004444
[I 15:44:09.126] MC:foc_observer_gain=5.064e+07
[I 15:44:09.126] MC:foc_observer_gain_slow=0.3
[I 15:44:09.126] MC:foc_duty_dowmramp_kp=10
[I 15:44:09.126] MC:foc_duty_dowmramp_ki=200
[I 15:44:09.126] MC:foc_openloop_rpm=400
[I 15:44:09.126] MC:foc_sl_openloop_hyst=0.1
[I 15:44:09.126] MC:foc_sl_openloop_time=0.1
[I 15:44:09.126] MC:foc_sl_d_current_duty=0
[I 15:44:09.126] MC:foc_sl_d_current_factor=0
[I 15:44:09.127] MC:foc_hall_table0=255
[I 15:44:09.127] MC:foc_hall_table1=86
[I 15:44:09.127] MC:foc_hall_table2=17
[I 15:44:09.127] MC:foc_hall_table3=56
[I 15:44:09.127] MC:foc_hall_table4=155
[I 15:44:09.127] MC:foc_hall_table5=119
[I 15:44:09.127] MC:foc_hall_table6=183
[I 15:44:09.127] MC:foc_hall_table7=255
[I 15:44:09.127] MC:foc_sl_erpm=2500
[I 15:44:09.127] MC:foc_sample_v0_v7=0
[I 15:44:09.127] MC:foc_sample_high_current=0
[I 15:44:09.127] MC:foc_sat_comp=0
[I 15:44:09.127] MC:foc_temp_comp=0
[I 15:44:09.127] MC:foc_temp_comp_base_temp=25
[I 15:44:09.127] MC:foc_current_filter_const=0.1
[I 15:44:09.127] MC:s_pid_kp=0.002
[I 15:44:09.127] MC:s_pid_ki=0.002
[I 15:44:09.127] MC:s_pid_kd=0
[I 15:44:09.127] MC:s_pid_kd_filter=0.2
[I 15:44:09.127] MC:s_pid_min_rpm=900
[I 15:44:09.127] MC:s_pid_allow_braking=1
[I 15:44:09.127] MC:p_pid_kp=0.03
[I 15:44:09.127] MC:p_pid_ki=0
[I 15:44:09.127] MC:p_pid_kd=0.0004
[I 15:44:09.127] MC:p_pid_kd_filter=0.2
[I 15:44:09.127] MC:p_pid_ang_div=1
[I 15:44:09.127] MC:cc_startup_boost_duty=0.01
[I 15:44:09.127] MC:cc_min_current=0.1
[I 15:44:09.127] MC:cc_gain=0.0046
[I 15:44:09.127] MC:cc_ramp_step_max=0.04
[I 15:44:09.127] MC:m_fault_stop_time_ms=500
[I 15:44:09.127] MC:m_duty_ramp_step=0.02
[I 15:44:09.127] MC:m_current_backoff_gain=0.5
[I 15:44:09.127] MC:m_encoder_counts=8192
[I 15:44:09.127] MC:m_sensor_port_mode=0
[I 15:44:09.127] MC:m_invert_direction=0
[I 15:44:09.127] MC:m_drv8301_oc_mode=0
[I 15:44:09.127] MC:m_drv8301_oc_adj=16
[I 15:44:09.127] MC:m_bldc_f_sw_min=3000
[I 15:44:09.127] MC:m_bldc_f_sw_max=40000
[I 15:44:09.127] MC:m_dc_f_sw=35000
[I 15:44:09.127] MC:m_ntc_motor_beta=3380
[I 15:44:09.735] Stopping configurations timer
[I 15:44:09.735] [confs] SET_MCCONF reply currentId=0
[I 15:44:09.735] Ask.appConfWrite()
[I 15:44:09.736] AC:controller_id=0
[I 15:44:09.736] AC:timeout_msec=1000
[I 15:44:09.736] AC:timeout_brake_current=0
[I 15:44:09.736] AC:send_can_status=1
[I 15:44:09.736] AC:send_can_status_rate_hz=200
[I 15:44:09.736] AC:can_baud_rate=2
[I 15:44:09.736] AC:app_to_use=4
[I 15:44:09.736] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:44:09.736] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:44:09.736] AC:app_ppm_conf_hyst=0.15
[I 15:44:09.736] AC:app_ppm_conf_pulse_start=1.145
[I 15:44:09.736] AC:app_ppm_conf_pulse_end=1.938
[I 15:44:09.737] AC:app_ppm_conf_pulse_center=1.538
[I 15:44:09.737] AC:app_ppm_conf_median_filter=1
[I 15:44:09.737] AC:app_ppm_conf_safe_start=1
[I 15:44:09.737] AC:app_ppm_conf_throttle_exp=0.85
[I 15:44:09.737] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 15:44:09.737] AC:app_ppm_conf_throttle_exp_mode=0
[I 15:44:09.737] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:44:09.737] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:44:09.737] AC:app_ppm_conf_multi_esc=1
[I 15:44:09.737] AC:app_ppm_conf_tc=1
[I 15:44:09.737] AC:app_ppm_conf_tc_max_diff=5000
[I 15:44:09.737] AC:app_adc_conf_ctrl_type=0
[I 15:44:09.737] AC:app_adc_conf_hyst=0.15
[I 15:44:09.737] AC:app_adc_conf_voltage_start=0.9
[I 15:44:09.737] AC:app_adc_conf_voltage_end=3
[I 15:44:09.737] AC:app_adc_conf_voltage_center=2
[I 15:44:09.737] AC:app_adc_conf_voltage2_start=0.9
[I 15:44:09.737] AC:app_adc_conf_voltage2_end=3
[I 15:44:09.737] AC:app_adc_conf_use_filter=1
[I 15:44:09.737] AC:app_adc_conf_safe_start=1
[I 15:44:09.738] AC:app_adc_conf_cc_button_inverted=0
[I 15:44:09.738] AC:app_adc_conf_rev_button_inverted=0
[I 15:44:09.738] AC:app_adc_conf_voltage_inverted=0
[I 15:44:09.738] AC:app_adc_conf_voltage2_inverted=0
[I 15:44:09.738] AC:app_adc_conf_throttle_exp=0
[I 15:44:09.738] AC:app_adc_conf_throttle_exp_brake=0
[I 15:44:09.738] AC:app_adc_conf_throttle_exp_mode=3
[I 15:44:09.738] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:44:09.738] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:44:09.738] AC:app_adc_conf_multi_esc=0
[I 15:44:09.738] AC:app_adc_conf_tc=0
[I 15:44:09.738] AC:app_adc_conf_tc_max_diff=5000
[I 15:44:09.738] AC:app_adc_conf_update_rate_hz=500
[I 15:44:09.738] AC:app_uart_baudrate=115200
[I 15:44:09.738] AC:app_chuk_conf_ctrl_type=1
[I 15:44:09.738] AC:app_chuk_conf_hyst=0.15
[I 15:44:09.739] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:44:09.739] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:44:09.739] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:44:09.739] AC:app_chuk_conf_throttle_exp=0
[I 15:44:09.739] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:44:09.739] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:44:09.739] AC:app_chuk_conf_multi_esc=0
[I 15:44:09.739] AC:app_chuk_conf_tc=0
[I 15:44:09.739] AC:app_chuk_conf_tc_max_diff=5000
[I 15:44:09.739] AC:app_nrf_conf_speed=2
[I 15:44:09.739] AC:app_nrf_conf_power=3
[I 15:44:09.739] AC:app_nrf_conf_crc_type=1
[I 15:44:09.739] AC:app_nrf_conf_retry_delay=0
[I 15:44:09.739] AC:app_nrf_conf_retries=3
[I 15:44:09.739] AC:app_nrf_conf_channel=76
[I 15:44:09.739] AC:app_nrf_conf_address=13027072
[I 15:44:09.739] AC:app_nrf_conf_send_crc_ack=1
[I 15:44:09.740] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:44:09.740] AC:ack_app_ppm_conf_cruise_left=0
[I 15:44:09.740] AC:ack_app_ppm_conf_cruise_right=0
[I 15:44:09.740] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:44:09.740] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:44:09.740] AC:ack_app_adc_conf_tc_offset=3000
[I 15:44:09.740] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:44:09.740] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:44:10.207] Stopping configurations timer
[I 15:44:10.207] [confs] SET_APPCONF reply currentId=0
[I 15:44:10.208] [confs] writeMotorConfiguration
[I 15:44:10.208] Ask.motorConfWrite()
[I 15:44:10.208] MC:pwm_mode=1
[I 15:44:10.209] MC:comm_mode=0
[I 15:44:10.209] MC:motor_type=2
[I 15:44:10.209] MC:sensor_mode=2
[I 15:44:10.209] MC:l_current_max=70
[I 15:44:10.209] MC:l_current_min=-70
[I 15:44:10.209] MC:l_in_current_max=35
[I 15:44:10.210] MC:l_in_current_min=-7
[I 15:44:10.210] MC:l_abs_current_max=130
[I 15:44:10.210] MC:l_min_erpm=-60000
[I 15:44:10.210] MC:l_max_erpm=49019.76387752697
[I 15:44:10.210] MC:l_erpm_start=0.8
[I 15:44:10.210] MC:l_max_erpm_fbrake=300
[I 15:44:10.210] MC:l_max_erpm_fbrake_cc=1500
[I 15:44:10.211] MC:l_min_vin=6
[I 15:44:10.211] MC:l_max_vin=57
[I 15:44:10.211] MC:l_battery_cut_start=42
[I 15:44:10.211] MC:l_battery_cut_end=40
[I 15:44:10.211] MC:l_slow_abs_current=1
[I 15:44:10.211] MC:l_temp_fet_start=85
[I 15:44:10.211] MC:l_temp_fet_end=100
[I 15:44:10.211] MC:l_temp_motor_start=85
[I 15:44:10.211] MC:l_temp_motor_end=100
[I 15:44:10.211] MC:l_temp_accel_dec=0.1
[I 15:44:10.211] MC:l_min_duty=0.005
[I 15:44:10.211] MC:l_max_duty=0.95
[I 15:44:10.211] MC:l_watt_max=15000
[I 15:44:10.211] MC:l_watt_min=-15000
[I 15:44:10.211] MC:sl_min_erpm=150
[I 15:44:10.211] MC:sl_min_erpm_cycle_int_limit=1100
[I 15:44:10.211] MC:sl_max_fullbreak_current_dir_change=10
[I 15:44:10.212] MC:sl_cycle_int_limit=62
[I 15:44:10.212] MC:sl_phase_advance_at_br=0.8
[I 15:44:10.212] MC:sl_cycle_int_rpm_br=80000
[I 15:44:10.212] MC:sl_bemf_coupling_k=600
[I 15:44:10.212] MC:hall_table_0=255
[I 15:44:10.212] MC:hall_table_1=1
[I 15:44:10.212] MC:hall_table_2=3
[I 15:44:10.212] MC:hall_table_3=2
[I 15:44:10.212] MC:hall_table_4=5
[I 15:44:10.212] MC:hall_table_5=6
[I 15:44:10.212] MC:hall_table_6=4
[I 15:44:10.212] MC:hall_table_7=255
[I 15:44:10.212] MC:hall_sl_erpm=2000
[I 15:44:10.212] MC:foc_current_kp=0.005
[I 15:44:10.212] MC:foc_current_ki=13.65
[I 15:44:10.212] MC:foc_f_sw=20000
[I 15:44:10.213] MC:foc_dt_us=0.08
[I 15:44:10.213] MC:foc_encoder_inverted=0
[I 15:44:10.213] MC:foc_encoder_offset=180
[I 15:44:10.213] MC:foc_encoder_ratio=7
[I 15:44:10.213] MC:foc_sensor_mode=2
[I 15:44:10.213] MC:foc_pll_kp=2000
[I 15:44:10.213] MC:foc_pll_ki=40000
[I 15:44:10.213] MC:foc_motor_l=4.96e-06
[I 15:44:10.213] MC:foc_motor_r=0.0137
[I 15:44:10.213] MC:foc_motor_flux_linkage=0.004425
[I 15:44:10.213] MC:foc_observer_gain=5.107e+07
[I 15:44:10.213] MC:foc_observer_gain_slow=0.3
[I 15:44:10.213] MC:foc_duty_dowmramp_kp=10
[I 15:44:10.213] MC:foc_duty_dowmramp_ki=200
[I 15:44:10.213] MC:foc_openloop_rpm=400
[I 15:44:10.213] MC:foc_sl_openloop_hyst=0.1
[I 15:44:10.213] MC:foc_sl_openloop_time=0.1
[I 15:44:10.213] MC:foc_sl_d_current_duty=0
[I 15:44:10.214] MC:foc_sl_d_current_factor=0
[I 15:44:10.214] MC:foc_hall_table0=255
[I 15:44:10.214] MC:foc_hall_table1=52
[I 15:44:10.214] MC:foc_hall_table2=115
[I 15:44:10.214] MC:foc_hall_table3=82
[I 15:44:10.214] MC:foc_hall_table4=179
[I 15:44:10.214] MC:foc_hall_table5=15
[I 15:44:10.214] MC:foc_hall_table6=149
[I 15:44:10.214] MC:foc_hall_table7=255
[I 15:44:10.214] MC:foc_sl_erpm=2500
[I 15:44:10.214] MC:foc_sample_v0_v7=0
[I 15:44:10.214] MC:foc_sample_high_current=0
[I 15:44:10.214] MC:foc_sat_comp=0
[I 15:44:10.214] MC:foc_temp_comp=0
[I 15:44:10.214] MC:foc_temp_comp_base_temp=25
[I 15:44:10.214] MC:foc_current_filter_const=0.1
[I 15:44:10.214] MC:s_pid_kp=0.002
[I 15:44:10.214] MC:s_pid_ki=0.002
[I 15:44:10.214] MC:s_pid_kd=0
[I 15:44:10.215] MC:s_pid_kd_filter=0.2
[I 15:44:10.215] MC:s_pid_min_rpm=900
[I 15:44:10.215] MC:s_pid_allow_braking=1
[I 15:44:10.215] MC:p_pid_kp=0.03
[I 15:44:10.215] MC:p_pid_ki=0
[I 15:44:10.215] MC:p_pid_kd=0.0004
[I 15:44:10.215] MC:p_pid_kd_filter=0.2
[I 15:44:10.215] MC:p_pid_ang_div=1
[I 15:44:10.215] MC:cc_startup_boost_duty=0.01
[I 15:44:10.215] MC:cc_min_current=0.1
[I 15:44:10.215] MC:cc_gain=0.0046
[I 15:44:10.215] MC:cc_ramp_step_max=0.04
[I 15:44:10.215] MC:m_fault_stop_time_ms=500
[I 15:44:10.215] MC:m_duty_ramp_step=0.02
[I 15:44:10.215] MC:m_current_backoff_gain=0.5
[I 15:44:10.215] MC:m_encoder_counts=8192
[I 15:44:10.215] MC:m_sensor_port_mode=0
[I 15:44:10.215] MC:m_invert_direction=0
[I 15:44:10.215] MC:m_drv8301_oc_mode=0
[I 15:44:10.216] MC:m_drv8301_oc_adj=16
[I 15:44:10.216] MC:m_bldc_f_sw_min=3000
[I 15:44:10.216] MC:m_bldc_f_sw_max=40000
[I 15:44:10.216] MC:m_dc_f_sw=35000
[I 15:44:10.216] MC:m_ntc_motor_beta=3380
[I 15:44:10.775] Stopping configurations timer
[I 15:44:10.775] [confs] SET_MCCONF reply currentId=1
[I 15:44:10.776] Ask.appConfWrite()
[I 15:44:10.776] AC:controller_id=1
[I 15:44:10.776] AC:timeout_msec=1000
[I 15:44:10.776] AC:timeout_brake_current=0
[I 15:44:10.776] AC:send_can_status=1
[I 15:44:10.777] AC:send_can_status_rate_hz=200
[I 15:44:10.777] AC:can_baud_rate=2
[I 15:44:10.777] AC:app_to_use=3
[I 15:44:10.777] AC:ack_app_ppm_conf_ctrl_type=3
[I 15:44:10.777] AC:app_ppm_conf_pid_max_erpm=15000
[I 15:44:10.777] AC:app_ppm_conf_hyst=0.15
[I 15:44:10.777] AC:app_ppm_conf_pulse_start=1.145
[I 15:44:10.777] AC:app_ppm_conf_pulse_end=1.938
[I 15:44:10.777] AC:app_ppm_conf_pulse_center=1.538
[I 15:44:10.777] AC:app_ppm_conf_median_filter=1
[I 15:44:10.777] AC:app_ppm_conf_safe_start=1
[I 15:44:10.777] AC:app_ppm_conf_throttle_exp=0.5
[I 15:44:10.778] AC:app_ppm_conf_throttle_exp_brake=-1
[I 15:44:10.778] AC:app_ppm_conf_throttle_exp_mode=1
[I 15:44:10.778] AC:app_ppm_conf_ramp_time_pos=0.3
[I 15:44:10.778] AC:app_ppm_conf_ramp_time_neg=0.1
[I 15:44:10.778] AC:app_ppm_conf_multi_esc=1
[I 15:44:10.778] AC:app_ppm_conf_tc=1
[I 15:44:10.778] AC:app_ppm_conf_tc_max_diff=5000
[I 15:44:10.778] AC:app_adc_conf_ctrl_type=0
[I 15:44:10.778] AC:app_adc_conf_hyst=0.15
[I 15:44:10.778] AC:app_adc_conf_voltage_start=0.9
[I 15:44:10.778] AC:app_adc_conf_voltage_end=3
[I 15:44:10.779] AC:app_adc_conf_voltage_center=2
[I 15:44:10.779] AC:app_adc_conf_voltage2_start=0.9
[I 15:44:10.779] AC:app_adc_conf_voltage2_end=3
[I 15:44:10.779] AC:app_adc_conf_use_filter=1
[I 15:44:10.779] AC:app_adc_conf_safe_start=1
[I 15:44:10.779] AC:app_adc_conf_cc_button_inverted=0
[I 15:44:10.779] AC:app_adc_conf_rev_button_inverted=0
[I 15:44:10.779] AC:app_adc_conf_voltage_inverted=0
[I 15:44:10.779] AC:app_adc_conf_voltage2_inverted=0
[I 15:44:10.779] AC:app_adc_conf_throttle_exp=0
[I 15:44:10.779] AC:app_adc_conf_throttle_exp_brake=0
[I 15:44:10.779] AC:app_adc_conf_throttle_exp_mode=3
[I 15:44:10.780] AC:app_adc_conf_ramp_time_pos=0.3
[I 15:44:10.781] AC:app_adc_conf_ramp_time_neg=0.1
[I 15:44:10.781] AC:app_adc_conf_multi_esc=0
[I 15:44:10.781] AC:app_adc_conf_tc=0
[I 15:44:10.781] AC:app_adc_conf_tc_max_diff=5000
[I 15:44:10.781] AC:app_adc_conf_update_rate_hz=500
[I 15:44:10.781] AC:app_uart_baudrate=9600
[I 15:44:10.781] AC:app_chuk_conf_ctrl_type=1
[I 15:44:10.782] AC:app_chuk_conf_hyst=0.15
[I 15:44:10.782] AC:app_chuk_conf_ramp_time_pos=0.3
[I 15:44:10.782] AC:app_chuk_conf_ramp_time_neg=0.1
[I 15:44:10.782] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 15:44:10.782] AC:app_chuk_conf_throttle_exp=0
[I 15:44:10.782] AC:app_chuk_conf_throttle_exp_brake=0
[I 15:44:10.782] AC:app_chuk_conf_throttle_exp_mode=3
[I 15:44:10.782] AC:app_chuk_conf_multi_esc=0
[I 15:44:10.782] AC:app_chuk_conf_tc=0
[I 15:44:10.782] AC:app_chuk_conf_tc_max_diff=5000
[I 15:44:10.782] AC:app_nrf_conf_speed=2
[I 15:44:10.782] AC:app_nrf_conf_power=3
[I 15:44:10.782] AC:app_nrf_conf_crc_type=1
[I 15:44:10.782] AC:app_nrf_conf_retry_delay=0
[I 15:44:10.782] AC:app_nrf_conf_retries=3
[I 15:44:10.783] AC:app_nrf_conf_channel=76
[I 15:44:10.783] AC:app_nrf_conf_address=13027072
[I 15:44:10.783] AC:app_nrf_conf_send_crc_ack=1
[I 15:44:10.783] AC:ack_app_ppm_conf_tc_offset=3000
[I 15:44:10.783] AC:ack_app_ppm_conf_cruise_left=0
[I 15:44:10.783] AC:ack_app_ppm_conf_cruise_right=0
[I 15:44:10.783] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 15:44:10.783] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 15:44:10.783] AC:ack_app_adc_conf_tc_offset=3000
[I 15:44:10.783] AC:ack_app_chuk_conf_tc_offset=3000
[I 15:44:10.783] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 15:44:11.225] Stopping configurations timer
[I 15:44:11.225] [confs] SET_APPCONF reply currentId=1
[I 15:44:11.227] [modes] Finishing apply, applied=true
[I 15:44:11.228] [mm] save()
[I 15:44:11.251] [ds] Saving settings for EC8A9C8C71CF
[I 15:44:11.251] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 15:44:11.251] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"15","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 15:44:11.251] void Settings::endGroup()
[I 15:44:34.673] [mw] openRealtime
[I 15:44:34.673] [modes] exit
[I 15:44:34.673] Ask.startRt()
[I 15:44:34.678] [rt] enter
[I 15:44:34.678] [mw] openRealtime
[E 15:44:34.715] Distance increase '255.03' too big
[E 15:44:34.717] Tacho increase '81828' too big
[E 15:44:52.754] Speed abnormal '-0.243473'
[E 15:45:10.159] Speed abnormal '-0.001122'
[E 15:45:10.427] Speed abnormal '-0.195227'
[E 15:45:16.632] Speed abnormal '-0.633928'
[E 15:45:16.746] Speed abnormal '-0.435335'
[E 15:45:16.785] Speed abnormal '-0.273767'
[E 15:45:17.870] Speed abnormal '-0.132396'
[E 15:45:42.977] Speed abnormal '-0.908817'
[E 15:45:43.071] Speed abnormal '-1.15005'
[E 15:45:43.191] Speed abnormal '-0.970527'
[E 15:45:43.277] Speed abnormal '-0.609244'
[E 15:46:02.395] Speed abnormal '-0.0628318'
[E 15:46:04.459] Speed abnormal '-1.23981'
[E 15:46:04.545] Speed abnormal '-1.92198'
[E 15:46:04.637] Speed abnormal '-2.18341'
[E 15:46:04.745] Speed abnormal '-1.68075'
[E 15:46:04.838] Speed abnormal '-0.706858'
[E 15:51:11.364] Speed abnormal '-0.171665'
[E 15:51:11.532] Speed abnormal '-0.465629'
[E 15:51:11.653] Speed abnormal '-0.610366'
[E 15:51:11.737] Speed abnormal '-0.482458'
[I 16:01:26.223] [mw] openRealtime
[I 16:01:26.271] [mw] openRealtime
[E 16:02:14.447] Speed abnormal '-0.261425'
[E 16:03:01.902] Speed abnormal '-0.323135'
[E 16:03:07.391] Speed abnormal '-0.380357'
[E 16:03:07.516] Speed abnormal '-0.559876'
[E 16:03:11.890] Speed abnormal '-0.0785398'
[E 16:03:12.397] Speed abnormal '-0.186251'
[E 16:03:26.208] Speed abnormal '-0.230009'
[E 16:04:24.072] Speed abnormal '-0.443189'
[E 16:04:24.167] Speed abnormal '-0.4948'
[E 16:04:24.264] Speed abnormal '-0.485824'
[E 16:04:26.528] Speed abnormal '-0.0841497'
[E 16:04:26.918] Speed abnormal '-0.185129'
[E 16:04:27.893] Speed abnormal '-1.20615'
[E 16:04:28.029] Speed abnormal '-0.603634'
[E 16:08:00.127] Speed abnormal '-1.02775'
[E 16:08:00.230] Speed abnormal '-1.29142'
[E 16:08:00.320] Speed abnormal '-1.775'
[E 16:08:00.409] Speed abnormal '-1.0098'
[E 16:08:00.521] Speed abnormal '-0.529582'
[E 16:08:01.005] Speed abnormal '-1.69982'
[E 16:08:01.098] Speed abnormal '-2.06896'
[E 16:08:01.204] Speed abnormal '-3.63302'
[E 16:08:01.295] Speed abnormal '-2.86446'
[E 16:08:01.396] Speed abnormal '-1.77388'
[E 16:08:01.487] Speed abnormal '-0.389333'
[E 16:08:01.790] Speed abnormal '-0.447677'
[E 16:08:01.874] Speed abnormal '-0.688906'
[E 16:08:01.986] Speed abnormal '-0.750616'
[E 16:08:02.091] Speed abnormal '-1.04346'
[E 16:08:02.173] Speed abnormal '-0.976137'
[E 16:08:02.268] Speed abnormal '-0.571096'
[E 16:08:02.376] Speed abnormal '-0.415139'
[E 16:08:02.474] Speed abnormal '-0.870669'
[E 16:08:02.574] Speed abnormal '-0.944721'
[E 16:08:02.658] Speed abnormal '-0.907695'
[E 16:08:02.765] Speed abnormal '-1.02438'
[E 16:08:02.876] Speed abnormal '-1.05355'
[E 16:08:02.959] Speed abnormal '-1.06029'
[E 16:08:03.066] Speed abnormal '-1.30713'
[E 16:08:03.165] Speed abnormal '-1.12648'
[E 16:08:03.259] Speed abnormal '-1.18595'
[E 16:08:03.350] Speed abnormal '-0.968283'
[E 16:08:03.464] Speed abnormal '-0.903207'
[E 16:08:03.558] Speed abnormal '-1.07038'
[E 16:08:03.646] Speed abnormal '-0.983991'
[E 16:08:03.751] Speed abnormal '-1.18034'
[E 16:08:03.856] Speed abnormal '-1.04907'
[E 16:08:03.940] Speed abnormal '-1.13995'
[E 16:08:04.041] Speed abnormal '-1.06253'
[E 16:08:04.126] Speed abnormal '-1.03672'
[E 16:08:04.239] Speed abnormal '-1.25439'
[E 16:08:04.336] Speed abnormal '-1.50348'
[E 16:08:04.462] Speed abnormal '-1.51694'
[E 16:08:04.537] Speed abnormal '-2.06896'
[E 16:08:04.633] Speed abnormal '-1.67963'
[E 16:08:04.745] Speed abnormal '-1.32508'
[E 16:08:04.816] Speed abnormal '-1.306'
[E 16:08:04.932] Speed abnormal '-1.30376'
[E 16:08:05.071] Speed abnormal '-0.523972'
[E 16:08:06.693] Speed abnormal '-0.302939'
[E 16:08:07.014] Speed abnormal '-0.52846'
[E 16:08:07.077] Speed abnormal '-0.502654'
[E 16:08:07.869] Speed abnormal '-0.260303'
[E 16:08:07.968] Speed abnormal '-0.509386'
[E 16:08:08.059] Speed abnormal '-0.399431'
[E 16:08:08.259] Speed abnormal '-0.57334'
[E 16:08:08.354] Speed abnormal '-1.45972'
[E 16:08:08.446] Speed abnormal '-1.84344'
[E 16:08:08.542] Speed abnormal '-0.879645'
[I 16:13:34.173] [rt] exit
[I 16:13:34.186] [records] enter
[I 16:13:36.223] [records] exit
[I 16:13:36.242] [modes] enter
[I 16:13:36.242] Ask.stopRt()
[I 16:13:38.962] createMotorConf FW 3.103
[I 16:13:38.965] [modes] Applying 'lipo legal'
[I 16:13:38.965] [confs] Initializing 2 configuration containers
[I 16:13:38.965] createMotorConf FW 3.103
[I 16:13:38.967] createMotorConf FW 3.103
[I 16:13:38.971] [confs] read()
[I 16:13:38.971] createMotorConf FW 3.103
[I 16:13:38.972] [confs] readMotorConfiguration
[I 16:13:38.973] Ask.motorConfGet()
[I 16:13:39.127] Stopping configurations timer
[I 16:13:39.127] [confs] GET_MCCONF reply currentId=0
[I 16:13:39.128] Ask.motorConfRead()
[I 16:13:39.128] [ask]: conf does not have signature
[I 16:13:39.128] MC:pwm_mode=1
[I 16:13:39.128] MC:comm_mode=0
[I 16:13:39.128] MC:motor_type=2
[I 16:13:39.128] MC:sensor_mode=2
[I 16:13:39.128] MC:l_current_max=70
[I 16:13:39.128] MC:l_current_min=-70
[I 16:13:39.128] MC:l_in_current_max=35
[I 16:13:39.128] MC:l_in_current_min=-7
[I 16:13:39.128] MC:l_abs_current_max=130
[I 16:13:39.128] MC:l_min_erpm=-60000
[I 16:13:39.129] MC:l_max_erpm=49019.8
[I 16:13:39.129] MC:l_erpm_start=0.8
[I 16:13:39.129] MC:l_max_erpm_fbrake=300
[I 16:13:39.129] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:39.129] MC:l_min_vin=6
[I 16:13:39.129] MC:l_max_vin=57
[I 16:13:39.129] MC:l_battery_cut_start=42
[I 16:13:39.129] MC:l_battery_cut_end=40
[I 16:13:39.129] MC:l_slow_abs_current=1
[I 16:13:39.129] MC:l_temp_fet_start=85
[I 16:13:39.129] MC:l_temp_fet_end=100
[I 16:13:39.129] MC:l_temp_motor_start=85
[I 16:13:39.129] MC:l_temp_motor_end=100
[I 16:13:39.129] MC:l_temp_accel_dec=0.1
[I 16:13:39.129] MC:l_min_duty=0.005
[I 16:13:39.131] MC:l_max_duty=0.95
[I 16:13:39.131] MC:l_watt_max=15000
[I 16:13:39.131] MC:l_watt_min=-15000
[I 16:13:39.131] MC:sl_min_erpm=150
[I 16:13:39.131] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:39.131] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:39.131] MC:sl_cycle_int_limit=62
[I 16:13:39.131] MC:sl_phase_advance_at_br=0.8
[I 16:13:39.131] MC:sl_cycle_int_rpm_br=80000
[I 16:13:39.131] MC:sl_bemf_coupling_k=600
[I 16:13:39.131] MC:hall_table_0=255
[I 16:13:39.131] MC:hall_table_1=1
[I 16:13:39.131] MC:hall_table_2=3
[I 16:13:39.131] MC:hall_table_3=2
[I 16:13:39.131] MC:hall_table_4=5
[I 16:13:39.131] MC:hall_table_5=6
[I 16:13:39.131] MC:hall_table_6=4
[I 16:13:39.131] MC:hall_table_7=255
[I 16:13:39.131] MC:hall_sl_erpm=2000
[I 16:13:39.131] MC:foc_current_kp=0.0044
[I 16:13:39.131] MC:foc_current_ki=13.95
[I 16:13:39.131] MC:foc_f_sw=20000
[I 16:13:39.131] MC:foc_dt_us=0.08
[I 16:13:39.131] MC:foc_encoder_inverted=0
[I 16:13:39.131] MC:foc_encoder_offset=180
[I 16:13:39.131] MC:foc_encoder_ratio=7
[I 16:13:39.131] MC:foc_sensor_mode=2
[I 16:13:39.131] MC:foc_pll_kp=2000
[I 16:13:39.131] MC:foc_pll_ki=40000
[I 16:13:39.131] MC:foc_motor_l=4.37e-06
[I 16:13:39.131] MC:foc_motor_r=0.0139
[I 16:13:39.131] MC:foc_motor_flux_linkage=0.004444
[I 16:13:39.131] MC:foc_observer_gain=5.064e+07
[I 16:13:39.131] MC:foc_observer_gain_slow=0.3
[I 16:13:39.131] MC:foc_duty_dowmramp_kp=10
[I 16:13:39.131] MC:foc_duty_dowmramp_ki=200
[I 16:13:39.131] MC:foc_openloop_rpm=400
[I 16:13:39.132] MC:foc_sl_openloop_hyst=0.1
[I 16:13:39.132] MC:foc_sl_openloop_time=0.1
[I 16:13:39.132] MC:foc_sl_d_current_duty=0
[I 16:13:39.132] MC:foc_sl_d_current_factor=0
[I 16:13:39.132] MC:foc_hall_table0=255
[I 16:13:39.132] MC:foc_hall_table1=86
[I 16:13:39.132] MC:foc_hall_table2=17
[I 16:13:39.132] MC:foc_hall_table3=56
[I 16:13:39.132] MC:foc_hall_table4=155
[I 16:13:39.132] MC:foc_hall_table5=119
[I 16:13:39.132] MC:foc_hall_table6=183
[I 16:13:39.132] MC:foc_hall_table7=255
[I 16:13:39.132] MC:foc_sl_erpm=2500
[I 16:13:39.132] MC:foc_sample_v0_v7=0
[I 16:13:39.132] MC:foc_sample_high_current=0
[I 16:13:39.132] MC:foc_sat_comp=0
[I 16:13:39.132] MC:foc_temp_comp=0
[I 16:13:39.132] MC:foc_temp_comp_base_temp=25
[I 16:13:39.132] MC:foc_current_filter_const=0.1
[I 16:13:39.132] MC:s_pid_kp=0.002
[I 16:13:39.132] MC:s_pid_ki=0.002
[I 16:13:39.132] MC:s_pid_kd=0
[I 16:13:39.132] MC:s_pid_kd_filter=0.2
[I 16:13:39.132] MC:s_pid_min_rpm=900
[I 16:13:39.132] MC:s_pid_allow_braking=1
[I 16:13:39.132] MC:p_pid_kp=0.03
[I 16:13:39.132] MC:p_pid_ki=0
[I 16:13:39.132] MC:p_pid_kd=0.0004
[I 16:13:39.132] MC:p_pid_kd_filter=0.2
[I 16:13:39.132] MC:p_pid_ang_div=1
[I 16:13:39.132] MC:cc_startup_boost_duty=0.01
[I 16:13:39.132] MC:cc_min_current=0.1
[I 16:13:39.132] MC:cc_gain=0.0046
[I 16:13:39.132] MC:cc_ramp_step_max=0.04
[I 16:13:39.132] MC:m_fault_stop_time_ms=500
[I 16:13:39.132] MC:m_duty_ramp_step=0.02
[I 16:13:39.132] MC:m_current_backoff_gain=0.5
[I 16:13:39.132] MC:m_encoder_counts=8192
[I 16:13:39.132] MC:m_sensor_port_mode=0
[I 16:13:39.132] MC:m_invert_direction=0
[I 16:13:39.132] MC:m_drv8301_oc_mode=0
[I 16:13:39.132] MC:m_drv8301_oc_adj=16
[I 16:13:39.132] MC:m_bldc_f_sw_min=3000
[I 16:13:39.132] MC:m_bldc_f_sw_max=40000
[I 16:13:39.133] MC:m_dc_f_sw=35000
[I 16:13:39.133] MC:m_ntc_motor_beta=3380
[I 16:13:39.133] [confs] readAppConfiguration
[I 16:13:39.133] Ask.appConfGet()
[I 16:13:39.185] Stopping configurations timer
[I 16:13:39.185] [confs] GET_APPCONF reply currentId=0
[I 16:13:39.185] Ask.appConfRead()
[I 16:13:39.185] [ask]: conf does not have signature
[I 16:13:39.185] AC:controller_id=0
[I 16:13:39.185] AC:timeout_msec=1000
[I 16:13:39.185] AC:timeout_brake_current=0
[I 16:13:39.185] AC:send_can_status=1
[I 16:13:39.185] AC:send_can_status_rate_hz=200
[I 16:13:39.185] AC:can_baud_rate=2
[I 16:13:39.185] AC:app_to_use=4
[I 16:13:39.186] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:39.186] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:39.186] AC:app_ppm_conf_hyst=0.15
[I 16:13:39.186] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:39.186] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:39.186] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:39.186] AC:app_ppm_conf_median_filter=1
[I 16:13:39.186] AC:app_ppm_conf_safe_start=1
[I 16:13:39.186] AC:app_ppm_conf_throttle_exp=0.85
[I 16:13:39.186] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:13:39.186] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:13:39.186] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:39.186] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:39.186] AC:app_ppm_conf_multi_esc=1
[I 16:13:39.186] AC:app_ppm_conf_tc=1
[I 16:13:39.186] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:39.186] AC:app_adc_conf_ctrl_type=0
[I 16:13:39.186] AC:app_adc_conf_hyst=0.15
[I 16:13:39.186] AC:app_adc_conf_voltage_start=0.9
[I 16:13:39.187] AC:app_adc_conf_voltage_end=3
[I 16:13:39.187] AC:app_adc_conf_voltage_center=2
[I 16:13:39.187] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:39.187] AC:app_adc_conf_voltage2_end=3
[I 16:13:39.187] AC:app_adc_conf_use_filter=1
[I 16:13:39.187] AC:app_adc_conf_safe_start=1
[I 16:13:39.187] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:39.187] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:39.187] AC:app_adc_conf_voltage_inverted=0
[I 16:13:39.187] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:39.187] AC:app_adc_conf_throttle_exp=0
[I 16:13:39.187] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:39.187] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:39.187] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:39.187] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:39.187] AC:app_adc_conf_multi_esc=0
[I 16:13:39.187] AC:app_adc_conf_tc=0
[I 16:13:39.187] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:39.187] AC:app_adc_conf_update_rate_hz=500
[I 16:13:39.187] AC:app_uart_baudrate=115200
[I 16:13:39.187] AC:app_chuk_conf_ctrl_type=1
[I 16:13:39.187] AC:app_chuk_conf_hyst=0.15
[I 16:13:39.188] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:39.188] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:39.188] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:39.188] AC:app_chuk_conf_throttle_exp=0
[I 16:13:39.188] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:39.188] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:39.188] AC:app_chuk_conf_multi_esc=0
[I 16:13:39.188] AC:app_chuk_conf_tc=0
[I 16:13:39.188] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:39.188] AC:app_nrf_conf_speed=2
[I 16:13:39.188] AC:app_nrf_conf_power=3
[I 16:13:39.188] AC:app_nrf_conf_crc_type=1
[I 16:13:39.188] AC:app_nrf_conf_retry_delay=0
[I 16:13:39.188] AC:app_nrf_conf_retries=3
[I 16:13:39.188] AC:app_nrf_conf_channel=76
[I 16:13:39.188] AC:app_nrf_conf_address=13027072
[I 16:13:39.188] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:39.188] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:39.188] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:39.188] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:39.188] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:39.188] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:39.189] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:39.189] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:39.189] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:39.189] [confs] readMotorConfiguration
[I 16:13:39.189] Ask.motorConfGet()
[I 16:13:39.347] Stopping configurations timer
[I 16:13:39.347] [confs] GET_MCCONF reply currentId=1
[I 16:13:39.347] Ask.motorConfRead()
[I 16:13:39.347] [ask]: conf does not have signature
[I 16:13:39.348] MC:pwm_mode=1
[I 16:13:39.348] MC:comm_mode=0
[I 16:13:39.348] MC:motor_type=2
[I 16:13:39.348] MC:sensor_mode=2
[I 16:13:39.349] MC:l_current_max=70
[I 16:13:39.350] MC:l_current_min=-70
[I 16:13:39.350] MC:l_in_current_max=35
[I 16:13:39.351] MC:l_in_current_min=-7
[I 16:13:39.351] MC:l_abs_current_max=130
[I 16:13:39.351] MC:l_min_erpm=-60000
[I 16:13:39.351] MC:l_max_erpm=49019.8
[I 16:13:39.351] MC:l_erpm_start=0.8
[I 16:13:39.351] MC:l_max_erpm_fbrake=300
[I 16:13:39.351] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:39.351] MC:l_min_vin=6
[I 16:13:39.351] MC:l_max_vin=57
[I 16:13:39.351] MC:l_battery_cut_start=42
[I 16:13:39.352] MC:l_battery_cut_end=40
[I 16:13:39.352] MC:l_slow_abs_current=1
[I 16:13:39.352] MC:l_temp_fet_start=85
[I 16:13:39.352] MC:l_temp_fet_end=100
[I 16:13:39.352] MC:l_temp_motor_start=85
[I 16:13:39.352] MC:l_temp_motor_end=100
[I 16:13:39.352] MC:l_temp_accel_dec=0.1
[I 16:13:39.352] MC:l_min_duty=0.005
[I 16:13:39.352] MC:l_max_duty=0.95
[I 16:13:39.352] MC:l_watt_max=15000
[I 16:13:39.352] MC:l_watt_min=-15000
[I 16:13:39.353] MC:sl_min_erpm=150
[I 16:13:39.353] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:39.353] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:39.353] MC:sl_cycle_int_limit=62
[I 16:13:39.353] MC:sl_phase_advance_at_br=0.8
[I 16:13:39.353] MC:sl_cycle_int_rpm_br=80000
[I 16:13:39.353] MC:sl_bemf_coupling_k=600
[I 16:13:39.353] MC:hall_table_0=255
[I 16:13:39.353] MC:hall_table_1=1
[I 16:13:39.353] MC:hall_table_2=3
[I 16:13:39.353] MC:hall_table_3=2
[I 16:13:39.353] MC:hall_table_4=5
[I 16:13:39.353] MC:hall_table_5=6
[I 16:13:39.354] MC:hall_table_6=4
[I 16:13:39.354] MC:hall_table_7=255
[I 16:13:39.354] MC:hall_sl_erpm=2000
[I 16:13:39.354] MC:foc_current_kp=0.005
[I 16:13:39.354] MC:foc_current_ki=13.65
[I 16:13:39.354] MC:foc_f_sw=20000
[I 16:13:39.354] MC:foc_dt_us=0.08
[I 16:13:39.354] MC:foc_encoder_inverted=0
[I 16:13:39.354] MC:foc_encoder_offset=180
[I 16:13:39.354] MC:foc_encoder_ratio=7
[I 16:13:39.354] MC:foc_sensor_mode=2
[I 16:13:39.355] MC:foc_pll_kp=2000
[I 16:13:39.355] MC:foc_pll_ki=40000
[I 16:13:39.355] MC:foc_motor_l=4.96e-06
[I 16:13:39.355] MC:foc_motor_r=0.0137
[I 16:13:39.355] MC:foc_motor_flux_linkage=0.004425
[I 16:13:39.355] MC:foc_observer_gain=5.107e+07
[I 16:13:39.355] MC:foc_observer_gain_slow=0.3
[I 16:13:39.355] MC:foc_duty_dowmramp_kp=10
[I 16:13:39.355] MC:foc_duty_dowmramp_ki=200
[I 16:13:39.355] MC:foc_openloop_rpm=400
[I 16:13:39.355] MC:foc_sl_openloop_hyst=0.1
[I 16:13:39.356] MC:foc_sl_openloop_time=0.1
[I 16:13:39.356] MC:foc_sl_d_current_duty=0
[I 16:13:39.356] MC:foc_sl_d_current_factor=0
[I 16:13:39.356] MC:foc_hall_table0=255
[I 16:13:39.356] MC:foc_hall_table1=52
[I 16:13:39.356] MC:foc_hall_table2=115
[I 16:13:39.356] MC:foc_hall_table3=82
[I 16:13:39.356] MC:foc_hall_table4=179
[I 16:13:39.356] MC:foc_hall_table5=15
[I 16:13:39.356] MC:foc_hall_table6=149
[I 16:13:39.356] MC:foc_hall_table7=255
[I 16:13:39.356] MC:foc_sl_erpm=2500
[I 16:13:39.356] MC:foc_sample_v0_v7=0
[I 16:13:39.356] MC:foc_sample_high_current=0
[I 16:13:39.357] MC:foc_sat_comp=0
[I 16:13:39.357] MC:foc_temp_comp=0
[I 16:13:39.357] MC:foc_temp_comp_base_temp=25
[I 16:13:39.357] MC:foc_current_filter_const=0.1
[I 16:13:39.357] MC:s_pid_kp=0.002
[I 16:13:39.357] MC:s_pid_ki=0.002
[I 16:13:39.357] MC:s_pid_kd=0
[I 16:13:39.357] MC:s_pid_kd_filter=0.2
[I 16:13:39.357] MC:s_pid_min_rpm=900
[I 16:13:39.357] MC:s_pid_allow_braking=1
[I 16:13:39.357] MC:p_pid_kp=0.03
[I 16:13:39.357] MC:p_pid_ki=0
[I 16:13:39.358] MC:p_pid_kd=0.0004
[I 16:13:39.358] MC:p_pid_kd_filter=0.2
[I 16:13:39.358] MC:p_pid_ang_div=1
[I 16:13:39.358] MC:cc_startup_boost_duty=0.01
[I 16:13:39.358] MC:cc_min_current=0.1
[I 16:13:39.358] MC:cc_gain=0.0046
[I 16:13:39.358] MC:cc_ramp_step_max=0.04
[I 16:13:39.358] MC:m_fault_stop_time_ms=500
[I 16:13:39.358] MC:m_duty_ramp_step=0.02
[I 16:13:39.358] MC:m_current_backoff_gain=0.5
[I 16:13:39.358] MC:m_encoder_counts=8192
[I 16:13:39.359] MC:m_sensor_port_mode=0
[I 16:13:39.359] MC:m_invert_direction=0
[I 16:13:39.359] MC:m_drv8301_oc_mode=0
[I 16:13:39.359] MC:m_drv8301_oc_adj=16
[I 16:13:39.359] MC:m_bldc_f_sw_min=3000
[I 16:13:39.359] MC:m_bldc_f_sw_max=40000
[I 16:13:39.359] MC:m_dc_f_sw=35000
[I 16:13:39.359] MC:m_ntc_motor_beta=3380
[I 16:13:39.360] [confs] readAppConfiguration
[I 16:13:39.360] Ask.appConfGet()
[I 16:13:39.429] Stopping configurations timer
[I 16:13:39.430] [confs] GET_APPCONF reply currentId=1
[I 16:13:39.430] Ask.appConfRead()
[I 16:13:39.430] [ask]: conf does not have signature
[I 16:13:39.430] AC:controller_id=1
[I 16:13:39.430] AC:timeout_msec=1000
[I 16:13:39.430] AC:timeout_brake_current=0
[I 16:13:39.430] AC:send_can_status=1
[I 16:13:39.430] AC:send_can_status_rate_hz=200
[I 16:13:39.431] AC:can_baud_rate=2
[I 16:13:39.431] AC:app_to_use=3
[I 16:13:39.431] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:39.431] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:39.431] AC:app_ppm_conf_hyst=0.15
[I 16:13:39.431] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:39.431] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:39.431] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:39.431] AC:app_ppm_conf_median_filter=1
[I 16:13:39.431] AC:app_ppm_conf_safe_start=1
[I 16:13:39.431] AC:app_ppm_conf_throttle_exp=0.5
[I 16:13:39.431] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:13:39.431] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:13:39.431] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:39.431] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:39.431] AC:app_ppm_conf_multi_esc=1
[I 16:13:39.431] AC:app_ppm_conf_tc=1
[I 16:13:39.431] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:39.432] AC:app_adc_conf_ctrl_type=0
[I 16:13:39.432] AC:app_adc_conf_hyst=0.15
[I 16:13:39.432] AC:app_adc_conf_voltage_start=0.9
[I 16:13:39.432] AC:app_adc_conf_voltage_end=3
[I 16:13:39.432] AC:app_adc_conf_voltage_center=2
[I 16:13:39.432] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:39.432] AC:app_adc_conf_voltage2_end=3
[I 16:13:39.432] AC:app_adc_conf_use_filter=1
[I 16:13:39.432] AC:app_adc_conf_safe_start=1
[I 16:13:39.432] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:39.432] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:39.432] AC:app_adc_conf_voltage_inverted=0
[I 16:13:39.432] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:39.432] AC:app_adc_conf_throttle_exp=0
[I 16:13:39.432] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:39.432] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:39.432] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:39.432] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:39.432] AC:app_adc_conf_multi_esc=0
[I 16:13:39.432] AC:app_adc_conf_tc=0
[I 16:13:39.433] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:39.433] AC:app_adc_conf_update_rate_hz=500
[I 16:13:39.433] AC:app_uart_baudrate=9600
[I 16:13:39.433] AC:app_chuk_conf_ctrl_type=1
[I 16:13:39.433] AC:app_chuk_conf_hyst=0.15
[I 16:13:39.433] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:39.433] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:39.433] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:39.433] AC:app_chuk_conf_throttle_exp=0
[I 16:13:39.433] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:39.433] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:39.433] AC:app_chuk_conf_multi_esc=0
[I 16:13:39.433] AC:app_chuk_conf_tc=0
[I 16:13:39.433] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:39.433] AC:app_nrf_conf_speed=2
[I 16:13:39.433] AC:app_nrf_conf_power=3
[I 16:13:39.433] AC:app_nrf_conf_crc_type=1
[I 16:13:39.433] AC:app_nrf_conf_retry_delay=0
[I 16:13:39.433] AC:app_nrf_conf_retries=3
[I 16:13:39.433] AC:app_nrf_conf_channel=76
[I 16:13:39.433] AC:app_nrf_conf_address=13027072
[I 16:13:39.434] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:39.434] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:39.434] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:39.434] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:39.434] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:39.434] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:39.434] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:39.434] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:39.434] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:39.434] [modes] modifying 2 confs
[I 16:13:39.435] [modes] Apply conf:l_max_erpm=13369.026512052813
[I 16:13:39.435] [modes] Apply conf:l_current_max=55
[I 16:13:39.435] [modes] Apply conf:l_current_min=-60
[I 16:13:39.436] [modes] Apply conf:l_in_current_max=35
[I 16:13:39.436] [modes] Apply conf:l_in_current_min=-7
[I 16:13:39.436] [modes] Apply conf:l_temp_fet_start=60
[I 16:13:39.437] [modes] Apply conf:l_temp_fet_end=70
[I 16:13:39.437] [modes] Apply conf:l_temp_motor_start=60
[I 16:13:39.437] [modes] Apply conf:l_temp_motor_end=70
[I 16:13:39.438] [modes] Apply conf:l_watt_max=15000
[I 16:13:39.438] [modes] Apply conf:l_watt_min=-15000
[I 16:13:39.438] [modes] Apply conf:l_abs_current_max=80
[I 16:13:39.439] [modes] Apply conf:l_battery_cut_start=42
[I 16:13:39.439] [modes] Apply conf:l_battery_cut_end=40
[I 16:13:39.440] [modes] Apply conf:l_max_erpm=13369.026512052813
[I 16:13:39.441] [modes] Apply conf:l_current_max=55
[I 16:13:39.441] [modes] Apply conf:l_current_min=-60
[I 16:13:39.441] [modes] Apply conf:l_in_current_max=35
[I 16:13:39.442] [modes] Apply conf:l_in_current_min=-7
[I 16:13:39.442] [modes] Apply conf:l_temp_fet_start=60
[I 16:13:39.442] [modes] Apply conf:l_temp_fet_end=70
[I 16:13:39.459] [modes] Apply conf:l_temp_motor_start=60
[I 16:13:39.459] [modes] Apply conf:l_temp_motor_end=70
[I 16:13:39.459] [modes] Apply conf:l_watt_max=15000
[I 16:13:39.459] [modes] Apply conf:l_watt_min=-15000
[I 16:13:39.459] [modes] Apply conf:l_abs_current_max=80
[I 16:13:39.459] [modes] Apply conf:l_battery_cut_start=42
[I 16:13:39.459] [modes] Apply conf:l_battery_cut_end=40
[I 16:13:39.460] [confs] write()
[I 16:13:39.460] [confs] writeMotorConfiguration
[I 16:13:39.460] Ask.motorConfWrite()
[I 16:13:39.460] MC:pwm_mode=1
[I 16:13:39.460] MC:comm_mode=0
[I 16:13:39.460] MC:motor_type=2
[I 16:13:39.460] MC:sensor_mode=2
[I 16:13:39.460] MC:l_current_max=55
[I 16:13:39.460] MC:l_current_min=-60
[I 16:13:39.460] MC:l_in_current_max=35
[I 16:13:39.460] MC:l_in_current_min=-7
[I 16:13:39.460] MC:l_abs_current_max=80
[I 16:13:39.460] MC:l_min_erpm=-60000
[I 16:13:39.460] MC:l_max_erpm=13369.026512052813
[I 16:13:39.460] MC:l_erpm_start=0.8
[I 16:13:39.460] MC:l_max_erpm_fbrake=300
[I 16:13:39.460] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:39.460] MC:l_min_vin=6
[I 16:13:39.460] MC:l_max_vin=57
[I 16:13:39.460] MC:l_battery_cut_start=42
[I 16:13:39.460] MC:l_battery_cut_end=40
[I 16:13:39.460] MC:l_slow_abs_current=1
[I 16:13:39.460] MC:l_temp_fet_start=60
[I 16:13:39.460] MC:l_temp_fet_end=70
[I 16:13:39.460] MC:l_temp_motor_start=60
[I 16:13:39.460] MC:l_temp_motor_end=70
[I 16:13:39.460] MC:l_temp_accel_dec=0.1
[I 16:13:39.460] MC:l_min_duty=0.005
[I 16:13:39.460] MC:l_max_duty=0.95
[I 16:13:39.461] MC:l_watt_max=15000
[I 16:13:39.461] MC:l_watt_min=-15000
[I 16:13:39.461] MC:sl_min_erpm=150
[I 16:13:39.461] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:39.461] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:39.461] MC:sl_cycle_int_limit=62
[I 16:13:39.461] MC:sl_phase_advance_at_br=0.8
[I 16:13:39.461] MC:sl_cycle_int_rpm_br=80000
[I 16:13:39.461] MC:sl_bemf_coupling_k=600
[I 16:13:39.461] MC:hall_table_0=255
[I 16:13:39.461] MC:hall_table_1=1
[I 16:13:39.461] MC:hall_table_2=3
[I 16:13:39.461] MC:hall_table_3=2
[I 16:13:39.461] MC:hall_table_4=5
[I 16:13:39.461] MC:hall_table_5=6
[I 16:13:39.461] MC:hall_table_6=4
[I 16:13:39.461] MC:hall_table_7=255
[I 16:13:39.461] MC:hall_sl_erpm=2000
[I 16:13:39.461] MC:foc_current_kp=0.0044
[I 16:13:39.461] MC:foc_current_ki=13.95
[I 16:13:39.461] MC:foc_f_sw=20000
[I 16:13:39.461] MC:foc_dt_us=0.08
[I 16:13:39.461] MC:foc_encoder_inverted=0
[I 16:13:39.461] MC:foc_encoder_offset=180
[I 16:13:39.461] MC:foc_encoder_ratio=7
[I 16:13:39.461] MC:foc_sensor_mode=2
[I 16:13:39.461] MC:foc_pll_kp=2000
[I 16:13:39.461] MC:foc_pll_ki=40000
[I 16:13:39.461] MC:foc_motor_l=4.37e-06
[I 16:13:39.461] MC:foc_motor_r=0.0139
[I 16:13:39.461] MC:foc_motor_flux_linkage=0.004444
[I 16:13:39.461] MC:foc_observer_gain=5.064e+07
[I 16:13:39.461] MC:foc_observer_gain_slow=0.3
[I 16:13:39.461] MC:foc_duty_dowmramp_kp=10
[I 16:13:39.461] MC:foc_duty_dowmramp_ki=200
[I 16:13:39.461] MC:foc_openloop_rpm=400
[I 16:13:39.461] MC:foc_sl_openloop_hyst=0.1
[I 16:13:39.461] MC:foc_sl_openloop_time=0.1
[I 16:13:39.461] MC:foc_sl_d_current_duty=0
[I 16:13:39.461] MC:foc_sl_d_current_factor=0
[I 16:13:39.461] MC:foc_hall_table0=255
[I 16:13:39.461] MC:foc_hall_table1=86
[I 16:13:39.461] MC:foc_hall_table2=17
[I 16:13:39.461] MC:foc_hall_table3=56
[I 16:13:39.461] MC:foc_hall_table4=155
[I 16:13:39.461] MC:foc_hall_table5=119
[I 16:13:39.461] MC:foc_hall_table6=183
[I 16:13:39.461] MC:foc_hall_table7=255
[I 16:13:39.461] MC:foc_sl_erpm=2500
[I 16:13:39.461] MC:foc_sample_v0_v7=0
[I 16:13:39.461] MC:foc_sample_high_current=0
[I 16:13:39.461] MC:foc_sat_comp=0
[I 16:13:39.461] MC:foc_temp_comp=0
[I 16:13:39.461] MC:foc_temp_comp_base_temp=25
[I 16:13:39.461] MC:foc_current_filter_const=0.1
[I 16:13:39.461] MC:s_pid_kp=0.002
[I 16:13:39.461] MC:s_pid_ki=0.002
[I 16:13:39.461] MC:s_pid_kd=0
[I 16:13:39.461] MC:s_pid_kd_filter=0.2
[I 16:13:39.461] MC:s_pid_min_rpm=900
[I 16:13:39.461] MC:s_pid_allow_braking=1
[I 16:13:39.461] MC:p_pid_kp=0.03
[I 16:13:39.461] MC:p_pid_ki=0
[I 16:13:39.461] MC:p_pid_kd=0.0004
[I 16:13:39.461] MC:p_pid_kd_filter=0.2
[I 16:13:39.461] MC:p_pid_ang_div=1
[I 16:13:39.461] MC:cc_startup_boost_duty=0.01
[I 16:13:39.461] MC:cc_min_current=0.1
[I 16:13:39.461] MC:cc_gain=0.0046
[I 16:13:39.461] MC:cc_ramp_step_max=0.04
[I 16:13:39.461] MC:m_fault_stop_time_ms=500
[I 16:13:39.461] MC:m_duty_ramp_step=0.02
[I 16:13:39.461] MC:m_current_backoff_gain=0.5
[I 16:13:39.461] MC:m_encoder_counts=8192
[I 16:13:39.461] MC:m_sensor_port_mode=0
[I 16:13:39.461] MC:m_invert_direction=0
[I 16:13:39.461] MC:m_drv8301_oc_mode=0
[I 16:13:39.461] MC:m_drv8301_oc_adj=16
[I 16:13:39.461] MC:m_bldc_f_sw_min=3000
[I 16:13:39.461] MC:m_bldc_f_sw_max=40000
[I 16:13:39.461] MC:m_dc_f_sw=35000
[I 16:13:39.461] MC:m_ntc_motor_beta=3380
[I 16:13:40.082] Stopping configurations timer
[I 16:13:40.082] [confs] SET_MCCONF reply currentId=0
[I 16:13:40.084] Ask.appConfWrite()
[I 16:13:40.084] AC:controller_id=0
[I 16:13:40.085] AC:timeout_msec=1000
[I 16:13:40.085] AC:timeout_brake_current=0
[I 16:13:40.086] AC:send_can_status=1
[I 16:13:40.087] AC:send_can_status_rate_hz=200
[I 16:13:40.087] AC:can_baud_rate=2
[I 16:13:40.087] AC:app_to_use=4
[I 16:13:40.087] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:40.088] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:40.088] AC:app_ppm_conf_hyst=0.15
[I 16:13:40.088] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:40.088] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:40.088] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:40.088] AC:app_ppm_conf_median_filter=1
[I 16:13:40.088] AC:app_ppm_conf_safe_start=1
[I 16:13:40.088] AC:app_ppm_conf_throttle_exp=0.85
[I 16:13:40.088] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:13:40.088] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:13:40.088] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:40.088] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:40.088] AC:app_ppm_conf_multi_esc=1
[I 16:13:40.088] AC:app_ppm_conf_tc=1
[I 16:13:40.088] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:40.089] AC:app_adc_conf_ctrl_type=0
[I 16:13:40.089] AC:app_adc_conf_hyst=0.15
[I 16:13:40.089] AC:app_adc_conf_voltage_start=0.9
[I 16:13:40.089] AC:app_adc_conf_voltage_end=3
[I 16:13:40.089] AC:app_adc_conf_voltage_center=2
[I 16:13:40.089] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:40.089] AC:app_adc_conf_voltage2_end=3
[I 16:13:40.089] AC:app_adc_conf_use_filter=1
[I 16:13:40.089] AC:app_adc_conf_safe_start=1
[I 16:13:40.089] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:40.089] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:40.089] AC:app_adc_conf_voltage_inverted=0
[I 16:13:40.089] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:40.089] AC:app_adc_conf_throttle_exp=0
[I 16:13:40.089] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:40.090] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:40.090] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:40.090] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:40.090] AC:app_adc_conf_multi_esc=0
[I 16:13:40.090] AC:app_adc_conf_tc=0
[I 16:13:40.090] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:40.090] AC:app_adc_conf_update_rate_hz=500
[I 16:13:40.090] AC:app_uart_baudrate=115200
[I 16:13:40.090] AC:app_chuk_conf_ctrl_type=1
[I 16:13:40.090] AC:app_chuk_conf_hyst=0.15
[I 16:13:40.091] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:40.091] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:40.091] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:40.091] AC:app_chuk_conf_throttle_exp=0
[I 16:13:40.091] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:40.091] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:40.091] AC:app_chuk_conf_multi_esc=0
[I 16:13:40.091] AC:app_chuk_conf_tc=0
[I 16:13:40.091] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:40.091] AC:app_nrf_conf_speed=2
[I 16:13:40.091] AC:app_nrf_conf_power=3
[I 16:13:40.091] AC:app_nrf_conf_crc_type=1
[I 16:13:40.091] AC:app_nrf_conf_retry_delay=0
[I 16:13:40.091] AC:app_nrf_conf_retries=3
[I 16:13:40.091] AC:app_nrf_conf_channel=76
[I 16:13:40.091] AC:app_nrf_conf_address=13027072
[I 16:13:40.091] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:40.091] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:40.091] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:40.092] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:40.092] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:40.093] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:40.093] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:40.093] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:40.093] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:40.597] Stopping configurations timer
[I 16:13:40.598] [confs] SET_APPCONF reply currentId=0
[I 16:13:40.599] [confs] writeMotorConfiguration
[I 16:13:40.599] Ask.motorConfWrite()
[I 16:13:40.599] MC:pwm_mode=1
[I 16:13:40.599] MC:comm_mode=0
[I 16:13:40.600] MC:motor_type=2
[I 16:13:40.600] MC:sensor_mode=2
[I 16:13:40.600] MC:l_current_max=55
[I 16:13:40.600] MC:l_current_min=-60
[I 16:13:40.600] MC:l_in_current_max=35
[I 16:13:40.600] MC:l_in_current_min=-7
[I 16:13:40.601] MC:l_abs_current_max=80
[I 16:13:40.601] MC:l_min_erpm=-60000
[I 16:13:40.601] MC:l_max_erpm=13369.026512052813
[I 16:13:40.601] MC:l_erpm_start=0.8
[I 16:13:40.601] MC:l_max_erpm_fbrake=300
[I 16:13:40.601] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:40.601] MC:l_min_vin=6
[I 16:13:40.601] MC:l_max_vin=57
[I 16:13:40.602] MC:l_battery_cut_start=42
[I 16:13:40.602] MC:l_battery_cut_end=40
[I 16:13:40.602] MC:l_slow_abs_current=1
[I 16:13:40.602] MC:l_temp_fet_start=60
[I 16:13:40.602] MC:l_temp_fet_end=70
[I 16:13:40.602] MC:l_temp_motor_start=60
[I 16:13:40.602] MC:l_temp_motor_end=70
[I 16:13:40.602] MC:l_temp_accel_dec=0.1
[I 16:13:40.603] MC:l_min_duty=0.005
[I 16:13:40.603] MC:l_max_duty=0.95
[I 16:13:40.603] MC:l_watt_max=15000
[I 16:13:40.603] MC:l_watt_min=-15000
[I 16:13:40.603] MC:sl_min_erpm=150
[I 16:13:40.603] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:40.603] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:40.603] MC:sl_cycle_int_limit=62
[I 16:13:40.603] MC:sl_phase_advance_at_br=0.8
[I 16:13:40.604] MC:sl_cycle_int_rpm_br=80000
[I 16:13:40.604] MC:sl_bemf_coupling_k=600
[I 16:13:40.604] MC:hall_table_0=255
[I 16:13:40.604] MC:hall_table_1=1
[I 16:13:40.604] MC:hall_table_2=3
[I 16:13:40.604] MC:hall_table_3=2
[I 16:13:40.604] MC:hall_table_4=5
[I 16:13:40.605] MC:hall_table_5=6
[I 16:13:40.605] MC:hall_table_6=4
[I 16:13:40.605] MC:hall_table_7=255
[I 16:13:40.605] MC:hall_sl_erpm=2000
[I 16:13:40.605] MC:foc_current_kp=0.005
[I 16:13:40.605] MC:foc_current_ki=13.65
[I 16:13:40.605] MC:foc_f_sw=20000
[I 16:13:40.605] MC:foc_dt_us=0.08
[I 16:13:40.605] MC:foc_encoder_inverted=0
[I 16:13:40.606] MC:foc_encoder_offset=180
[I 16:13:40.606] MC:foc_encoder_ratio=7
[I 16:13:40.606] MC:foc_sensor_mode=2
[I 16:13:40.606] MC:foc_pll_kp=2000
[I 16:13:40.606] MC:foc_pll_ki=40000
[I 16:13:40.606] MC:foc_motor_l=4.96e-06
[I 16:13:40.606] MC:foc_motor_r=0.0137
[I 16:13:40.606] MC:foc_motor_flux_linkage=0.004425
[I 16:13:40.607] MC:foc_observer_gain=5.107e+07
[I 16:13:40.607] MC:foc_observer_gain_slow=0.3
[I 16:13:40.607] MC:foc_duty_dowmramp_kp=10
[I 16:13:40.607] MC:foc_duty_dowmramp_ki=200
[I 16:13:40.607] MC:foc_openloop_rpm=400
[I 16:13:40.607] MC:foc_sl_openloop_hyst=0.1
[I 16:13:40.607] MC:foc_sl_openloop_time=0.1
[I 16:13:40.607] MC:foc_sl_d_current_duty=0
[I 16:13:40.607] MC:foc_sl_d_current_factor=0
[I 16:13:40.608] MC:foc_hall_table0=255
[I 16:13:40.608] MC:foc_hall_table1=52
[I 16:13:40.608] MC:foc_hall_table2=115
[I 16:13:40.608] MC:foc_hall_table3=82
[I 16:13:40.608] MC:foc_hall_table4=179
[I 16:13:40.608] MC:foc_hall_table5=15
[I 16:13:40.608] MC:foc_hall_table6=149
[I 16:13:40.608] MC:foc_hall_table7=255
[I 16:13:40.608] MC:foc_sl_erpm=2500
[I 16:13:40.609] MC:foc_sample_v0_v7=0
[I 16:13:40.609] MC:foc_sample_high_current=0
[I 16:13:40.609] MC:foc_sat_comp=0
[I 16:13:40.609] MC:foc_temp_comp=0
[I 16:13:40.609] MC:foc_temp_comp_base_temp=25
[I 16:13:40.609] MC:foc_current_filter_const=0.1
[I 16:13:40.609] MC:s_pid_kp=0.002
[I 16:13:40.609] MC:s_pid_ki=0.002
[I 16:13:40.609] MC:s_pid_kd=0
[I 16:13:40.610] MC:s_pid_kd_filter=0.2
[I 16:13:40.611] MC:s_pid_min_rpm=900
[I 16:13:40.611] MC:s_pid_allow_braking=1
[I 16:13:40.611] MC:p_pid_kp=0.03
[I 16:13:40.611] MC:p_pid_ki=0
[I 16:13:40.611] MC:p_pid_kd=0.0004
[I 16:13:40.611] MC:p_pid_kd_filter=0.2
[I 16:13:40.611] MC:p_pid_ang_div=1
[I 16:13:40.611] MC:cc_startup_boost_duty=0.01
[I 16:13:40.611] MC:cc_min_current=0.1
[I 16:13:40.611] MC:cc_gain=0.0046
[I 16:13:40.611] MC:cc_ramp_step_max=0.04
[I 16:13:40.611] MC:m_fault_stop_time_ms=500
[I 16:13:40.611] MC:m_duty_ramp_step=0.02
[I 16:13:40.611] MC:m_current_backoff_gain=0.5
[I 16:13:40.611] MC:m_encoder_counts=8192
[I 16:13:40.611] MC:m_sensor_port_mode=0
[I 16:13:40.611] MC:m_invert_direction=0
[I 16:13:40.611] MC:m_drv8301_oc_mode=0
[I 16:13:40.611] MC:m_drv8301_oc_adj=16
[I 16:13:40.611] MC:m_bldc_f_sw_min=3000
[I 16:13:40.611] MC:m_bldc_f_sw_max=40000
[I 16:13:40.611] MC:m_dc_f_sw=35000
[I 16:13:40.611] MC:m_ntc_motor_beta=3380
[I 16:13:41.254] Stopping configurations timer
[I 16:13:41.255] [confs] SET_MCCONF reply currentId=1
[I 16:13:41.256] Ask.appConfWrite()
[I 16:13:41.256] AC:controller_id=1
[I 16:13:41.256] AC:timeout_msec=1000
[I 16:13:41.257] AC:timeout_brake_current=0
[I 16:13:41.257] AC:send_can_status=1
[I 16:13:41.257] AC:send_can_status_rate_hz=200
[I 16:13:41.257] AC:can_baud_rate=2
[I 16:13:41.257] AC:app_to_use=3
[I 16:13:41.257] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:41.257] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:41.257] AC:app_ppm_conf_hyst=0.15
[I 16:13:41.258] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:41.258] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:41.258] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:41.258] AC:app_ppm_conf_median_filter=1
[I 16:13:41.258] AC:app_ppm_conf_safe_start=1
[I 16:13:41.258] AC:app_ppm_conf_throttle_exp=0.5
[I 16:13:41.258] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:13:41.258] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:13:41.258] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:41.259] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:41.259] AC:app_ppm_conf_multi_esc=1
[I 16:13:41.259] AC:app_ppm_conf_tc=1
[I 16:13:41.259] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:41.259] AC:app_adc_conf_ctrl_type=0
[I 16:13:41.259] AC:app_adc_conf_hyst=0.15
[I 16:13:41.259] AC:app_adc_conf_voltage_start=0.9
[I 16:13:41.259] AC:app_adc_conf_voltage_end=3
[I 16:13:41.260] AC:app_adc_conf_voltage_center=2
[I 16:13:41.260] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:41.260] AC:app_adc_conf_voltage2_end=3
[I 16:13:41.260] AC:app_adc_conf_use_filter=1
[I 16:13:41.260] AC:app_adc_conf_safe_start=1
[I 16:13:41.260] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:41.260] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:41.261] AC:app_adc_conf_voltage_inverted=0
[I 16:13:41.261] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:41.261] AC:app_adc_conf_throttle_exp=0
[I 16:13:41.261] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:41.261] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:41.261] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:41.261] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:41.261] AC:app_adc_conf_multi_esc=0
[I 16:13:41.261] AC:app_adc_conf_tc=0
[I 16:13:41.262] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:41.262] AC:app_adc_conf_update_rate_hz=500
[I 16:13:41.262] AC:app_uart_baudrate=9600
[I 16:13:41.262] AC:app_chuk_conf_ctrl_type=1
[I 16:13:41.262] AC:app_chuk_conf_hyst=0.15
[I 16:13:41.262] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:41.262] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:41.262] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:41.263] AC:app_chuk_conf_throttle_exp=0
[I 16:13:41.263] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:41.263] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:41.263] AC:app_chuk_conf_multi_esc=0
[I 16:13:41.263] AC:app_chuk_conf_tc=0
[I 16:13:41.263] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:41.263] AC:app_nrf_conf_speed=2
[I 16:13:41.263] AC:app_nrf_conf_power=3
[I 16:13:41.263] AC:app_nrf_conf_crc_type=1
[I 16:13:41.264] AC:app_nrf_conf_retry_delay=0
[I 16:13:41.264] AC:app_nrf_conf_retries=3
[I 16:13:41.264] AC:app_nrf_conf_channel=76
[I 16:13:41.264] AC:app_nrf_conf_address=13027072
[I 16:13:41.264] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:41.264] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:41.264] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:41.264] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:41.265] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:41.265] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:41.265] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:41.265] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:41.265] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:41.735] Stopping configurations timer
[I 16:13:41.736] [confs] SET_APPCONF reply currentId=1
[I 16:13:41.737] [modes] Finishing apply, applied=true
[I 16:13:41.737] [mm] save()
[I 16:13:41.753] [ds] Saving settings for EC8A9C8C71CF
[I 16:13:41.753] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:13:41.753] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"15","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":true},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:13:41.753] void Settings::endGroup()
[I 16:13:42.439] [modes] editing mode lipo legal
[I 16:13:43.999] M:max_speed, was=15 is=1
[I 16:13:44.002] [mm] save()
[I 16:13:44.021] [ds] Saving settings for EC8A9C8C71CF
[I 16:13:44.021] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:13:44.021] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"1","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:13:44.021] void Settings::endGroup()
[I 16:13:44.965] M:max_speed, was=1 is=7
[I 16:13:44.968] [mm] save()
[I 16:13:44.987] [ds] Saving settings for EC8A9C8C71CF
[I 16:13:44.987] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:13:44.987] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"7","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:13:44.987] void Settings::endGroup()
[I 16:13:46.349] [modes] Updating summary for 'lipo legal'
[I 16:13:47.500] createMotorConf FW 3.103
[I 16:13:47.502] [modes] Applying 'lipo legal'
[I 16:13:47.503] [confs] Initializing 2 configuration containers
[I 16:13:47.503] createMotorConf FW 3.103
[I 16:13:47.505] createMotorConf FW 3.103
[I 16:13:47.509] [confs] read()
[I 16:13:47.509] createMotorConf FW 3.103
[I 16:13:47.511] [confs] readMotorConfiguration
[I 16:13:47.511] Ask.motorConfGet()
[I 16:13:47.686] Stopping configurations timer
[I 16:13:47.686] [confs] GET_MCCONF reply currentId=0
[I 16:13:47.686] Ask.motorConfRead()
[I 16:13:47.687] [ask]: conf does not have signature
[I 16:13:47.687] MC:pwm_mode=1
[I 16:13:47.687] MC:comm_mode=0
[I 16:13:47.687] MC:motor_type=2
[I 16:13:47.688] MC:sensor_mode=2
[I 16:13:47.688] MC:l_current_max=55
[I 16:13:47.688] MC:l_current_min=-60
[I 16:13:47.688] MC:l_in_current_max=35
[I 16:13:47.688] MC:l_in_current_min=-7
[I 16:13:47.689] MC:l_abs_current_max=80
[I 16:13:47.689] MC:l_min_erpm=-60000
[I 16:13:47.689] MC:l_max_erpm=13369
[I 16:13:47.689] MC:l_erpm_start=0.8
[I 16:13:47.689] MC:l_max_erpm_fbrake=300
[I 16:13:47.689] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:47.691] MC:l_min_vin=6
[I 16:13:47.691] MC:l_max_vin=57
[I 16:13:47.691] MC:l_battery_cut_start=42
[I 16:13:47.691] MC:l_battery_cut_end=40
[I 16:13:47.691] MC:l_slow_abs_current=1
[I 16:13:47.691] MC:l_temp_fet_start=60
[I 16:13:47.691] MC:l_temp_fet_end=70
[I 16:13:47.691] MC:l_temp_motor_start=60
[I 16:13:47.691] MC:l_temp_motor_end=70
[I 16:13:47.691] MC:l_temp_accel_dec=0.1
[I 16:13:47.691] MC:l_min_duty=0.005
[I 16:13:47.691] MC:l_max_duty=0.95
[I 16:13:47.691] MC:l_watt_max=15000
[I 16:13:47.691] MC:l_watt_min=-15000
[I 16:13:47.691] MC:sl_min_erpm=150
[I 16:13:47.691] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:47.691] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:47.691] MC:sl_cycle_int_limit=62
[I 16:13:47.691] MC:sl_phase_advance_at_br=0.8
[I 16:13:47.692] MC:sl_cycle_int_rpm_br=80000
[I 16:13:47.692] MC:sl_bemf_coupling_k=600
[I 16:13:47.692] MC:hall_table_0=255
[I 16:13:47.692] MC:hall_table_1=1
[I 16:13:47.692] MC:hall_table_2=3
[I 16:13:47.692] MC:hall_table_3=2
[I 16:13:47.692] MC:hall_table_4=5
[I 16:13:47.692] MC:hall_table_5=6
[I 16:13:47.692] MC:hall_table_6=4
[I 16:13:47.692] MC:hall_table_7=255
[I 16:13:47.692] MC:hall_sl_erpm=2000
[I 16:13:47.692] MC:foc_current_kp=0.0044
[I 16:13:47.692] MC:foc_current_ki=13.95
[I 16:13:47.692] MC:foc_f_sw=20000
[I 16:13:47.692] MC:foc_dt_us=0.08
[I 16:13:47.692] MC:foc_encoder_inverted=0
[I 16:13:47.692] MC:foc_encoder_offset=180
[I 16:13:47.692] MC:foc_encoder_ratio=7
[I 16:13:47.692] MC:foc_sensor_mode=2
[I 16:13:47.692] MC:foc_pll_kp=2000
[I 16:13:47.692] MC:foc_pll_ki=40000
[I 16:13:47.692] MC:foc_motor_l=4.37e-06
[I 16:13:47.692] MC:foc_motor_r=0.0139
[I 16:13:47.692] MC:foc_motor_flux_linkage=0.004444
[I 16:13:47.692] MC:foc_observer_gain=5.064e+07
[I 16:13:47.692] MC:foc_observer_gain_slow=0.3
[I 16:13:47.692] MC:foc_duty_dowmramp_kp=10
[I 16:13:47.692] MC:foc_duty_dowmramp_ki=200
[I 16:13:47.693] MC:foc_openloop_rpm=400
[I 16:13:47.693] MC:foc_sl_openloop_hyst=0.1
[I 16:13:47.693] MC:foc_sl_openloop_time=0.1
[I 16:13:47.693] MC:foc_sl_d_current_duty=0
[I 16:13:47.693] MC:foc_sl_d_current_factor=0
[I 16:13:47.693] MC:foc_hall_table0=255
[I 16:13:47.693] MC:foc_hall_table1=86
[I 16:13:47.693] MC:foc_hall_table2=17
[I 16:13:47.693] MC:foc_hall_table3=56
[I 16:13:47.693] MC:foc_hall_table4=155
[I 16:13:47.693] MC:foc_hall_table5=119
[I 16:13:47.693] MC:foc_hall_table6=183
[I 16:13:47.693] MC:foc_hall_table7=255
[I 16:13:47.693] MC:foc_sl_erpm=2500
[I 16:13:47.693] MC:foc_sample_v0_v7=0
[I 16:13:47.693] MC:foc_sample_high_current=0
[I 16:13:47.693] MC:foc_sat_comp=0
[I 16:13:47.693] MC:foc_temp_comp=0
[I 16:13:47.693] MC:foc_temp_comp_base_temp=25
[I 16:13:47.693] MC:foc_current_filter_const=0.1
[I 16:13:47.693] MC:s_pid_kp=0.002
[I 16:13:47.693] MC:s_pid_ki=0.002
[I 16:13:47.693] MC:s_pid_kd=0
[I 16:13:47.693] MC:s_pid_kd_filter=0.2
[I 16:13:47.693] MC:s_pid_min_rpm=900
[I 16:13:47.694] MC:s_pid_allow_braking=1
[I 16:13:47.694] MC:p_pid_kp=0.03
[I 16:13:47.694] MC:p_pid_ki=0
[I 16:13:47.694] MC:p_pid_kd=0.0004
[I 16:13:47.694] MC:p_pid_kd_filter=0.2
[I 16:13:47.694] MC:p_pid_ang_div=1
[I 16:13:47.694] MC:cc_startup_boost_duty=0.01
[I 16:13:47.694] MC:cc_min_current=0.1
[I 16:13:47.694] MC:cc_gain=0.0046
[I 16:13:47.694] MC:cc_ramp_step_max=0.04
[I 16:13:47.694] MC:m_fault_stop_time_ms=500
[I 16:13:47.694] MC:m_duty_ramp_step=0.02
[I 16:13:47.694] MC:m_current_backoff_gain=0.5
[I 16:13:47.694] MC:m_encoder_counts=8192
[I 16:13:47.694] MC:m_sensor_port_mode=0
[I 16:13:47.694] MC:m_invert_direction=0
[I 16:13:47.694] MC:m_drv8301_oc_mode=0
[I 16:13:47.694] MC:m_drv8301_oc_adj=16
[I 16:13:47.694] MC:m_bldc_f_sw_min=3000
[I 16:13:47.694] MC:m_bldc_f_sw_max=40000
[I 16:13:47.694] MC:m_dc_f_sw=35000
[I 16:13:47.694] MC:m_ntc_motor_beta=3380
[I 16:13:47.695] [confs] readAppConfiguration
[I 16:13:47.695] Ask.appConfGet()
[I 16:13:47.765] Stopping configurations timer
[I 16:13:47.766] [confs] GET_APPCONF reply currentId=0
[I 16:13:47.766] Ask.appConfRead()
[I 16:13:47.766] [ask]: conf does not have signature
[I 16:13:47.766] AC:controller_id=0
[I 16:13:47.766] AC:timeout_msec=1000
[I 16:13:47.766] AC:timeout_brake_current=0
[I 16:13:47.766] AC:send_can_status=1
[I 16:13:47.766] AC:send_can_status_rate_hz=200
[I 16:13:47.766] AC:can_baud_rate=2
[I 16:13:47.766] AC:app_to_use=4
[I 16:13:47.766] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:47.766] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:47.766] AC:app_ppm_conf_hyst=0.15
[I 16:13:47.766] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:47.766] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:47.766] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:47.766] AC:app_ppm_conf_median_filter=1
[I 16:13:47.766] AC:app_ppm_conf_safe_start=1
[I 16:13:47.766] AC:app_ppm_conf_throttle_exp=0.85
[I 16:13:47.766] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:13:47.766] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:13:47.766] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:47.766] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:47.766] AC:app_ppm_conf_multi_esc=1
[I 16:13:47.766] AC:app_ppm_conf_tc=1
[I 16:13:47.766] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:47.767] AC:app_adc_conf_ctrl_type=0
[I 16:13:47.767] AC:app_adc_conf_hyst=0.15
[I 16:13:47.767] AC:app_adc_conf_voltage_start=0.9
[I 16:13:47.767] AC:app_adc_conf_voltage_end=3
[I 16:13:47.767] AC:app_adc_conf_voltage_center=2
[I 16:13:47.767] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:47.767] AC:app_adc_conf_voltage2_end=3
[I 16:13:47.767] AC:app_adc_conf_use_filter=1
[I 16:13:47.767] AC:app_adc_conf_safe_start=1
[I 16:13:47.767] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:47.767] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:47.767] AC:app_adc_conf_voltage_inverted=0
[I 16:13:47.767] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:47.767] AC:app_adc_conf_throttle_exp=0
[I 16:13:47.767] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:47.767] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:47.767] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:47.767] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:47.767] AC:app_adc_conf_multi_esc=0
[I 16:13:47.767] AC:app_adc_conf_tc=0
[I 16:13:47.767] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:47.767] AC:app_adc_conf_update_rate_hz=500
[I 16:13:47.767] AC:app_uart_baudrate=115200
[I 16:13:47.767] AC:app_chuk_conf_ctrl_type=1
[I 16:13:47.767] AC:app_chuk_conf_hyst=0.15
[I 16:13:47.767] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:47.767] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:47.767] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:47.767] AC:app_chuk_conf_throttle_exp=0
[I 16:13:47.767] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:47.767] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:47.767] AC:app_chuk_conf_multi_esc=0
[I 16:13:47.767] AC:app_chuk_conf_tc=0
[I 16:13:47.767] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:47.768] AC:app_nrf_conf_speed=2
[I 16:13:47.768] AC:app_nrf_conf_power=3
[I 16:13:47.768] AC:app_nrf_conf_crc_type=1
[I 16:13:47.768] AC:app_nrf_conf_retry_delay=0
[I 16:13:47.768] AC:app_nrf_conf_retries=3
[I 16:13:47.768] AC:app_nrf_conf_channel=76
[I 16:13:47.768] AC:app_nrf_conf_address=13027072
[I 16:13:47.768] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:47.768] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:47.768] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:47.768] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:47.768] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:47.768] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:47.768] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:47.768] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:47.768] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:47.768] [confs] readMotorConfiguration
[I 16:13:47.768] Ask.motorConfGet()
[I 16:13:47.920] Stopping configurations timer
[I 16:13:47.921] [confs] GET_MCCONF reply currentId=1
[I 16:13:47.921] Ask.motorConfRead()
[I 16:13:47.921] [ask]: conf does not have signature
[I 16:13:47.921] MC:pwm_mode=1
[I 16:13:47.922] MC:comm_mode=0
[I 16:13:47.922] MC:motor_type=2
[I 16:13:47.922] MC:sensor_mode=2
[I 16:13:47.922] MC:l_current_max=55
[I 16:13:47.922] MC:l_current_min=-60
[I 16:13:47.922] MC:l_in_current_max=35
[I 16:13:47.923] MC:l_in_current_min=-7
[I 16:13:47.923] MC:l_abs_current_max=80
[I 16:13:47.923] MC:l_min_erpm=-60000
[I 16:13:47.923] MC:l_max_erpm=13369
[I 16:13:47.923] MC:l_erpm_start=0.8
[I 16:13:47.924] MC:l_max_erpm_fbrake=300
[I 16:13:47.948] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:47.949] MC:l_min_vin=6
[I 16:13:47.949] MC:l_max_vin=57
[I 16:13:47.949] MC:l_battery_cut_start=42
[I 16:13:47.949] MC:l_battery_cut_end=40
[I 16:13:47.949] MC:l_slow_abs_current=1
[I 16:13:47.949] MC:l_temp_fet_start=60
[I 16:13:47.949] MC:l_temp_fet_end=70
[I 16:13:47.949] MC:l_temp_motor_start=60
[I 16:13:47.949] MC:l_temp_motor_end=70
[I 16:13:47.949] MC:l_temp_accel_dec=0.1
[I 16:13:47.949] MC:l_min_duty=0.005
[I 16:13:47.949] MC:l_max_duty=0.95
[I 16:13:47.949] MC:l_watt_max=15000
[I 16:13:47.949] MC:l_watt_min=-15000
[I 16:13:47.949] MC:sl_min_erpm=150
[I 16:13:47.949] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:47.949] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:47.949] MC:sl_cycle_int_limit=62
[I 16:13:47.949] MC:sl_phase_advance_at_br=0.8
[I 16:13:47.949] MC:sl_cycle_int_rpm_br=80000
[I 16:13:47.949] MC:sl_bemf_coupling_k=600
[I 16:13:47.949] MC:hall_table_0=255
[I 16:13:47.949] MC:hall_table_1=1
[I 16:13:47.949] MC:hall_table_2=3
[I 16:13:47.949] MC:hall_table_3=2
[I 16:13:47.949] MC:hall_table_4=5
[I 16:13:47.949] MC:hall_table_5=6
[I 16:13:47.949] MC:hall_table_6=4
[I 16:13:47.949] MC:hall_table_7=255
[I 16:13:47.949] MC:hall_sl_erpm=2000
[I 16:13:47.949] MC:foc_current_kp=0.005
[I 16:13:47.949] MC:foc_current_ki=13.65
[I 16:13:47.949] MC:foc_f_sw=20000
[I 16:13:47.949] MC:foc_dt_us=0.08
[I 16:13:47.949] MC:foc_encoder_inverted=0
[I 16:13:47.949] MC:foc_encoder_offset=180
[I 16:13:47.950] MC:foc_encoder_ratio=7
[I 16:13:47.950] MC:foc_sensor_mode=2
[I 16:13:47.950] MC:foc_pll_kp=2000
[I 16:13:47.950] MC:foc_pll_ki=40000
[I 16:13:47.950] MC:foc_motor_l=4.96e-06
[I 16:13:47.950] MC:foc_motor_r=0.0137
[I 16:13:47.950] MC:foc_motor_flux_linkage=0.004425
[I 16:13:47.950] MC:foc_observer_gain=5.107e+07
[I 16:13:47.950] MC:foc_observer_gain_slow=0.3
[I 16:13:47.950] MC:foc_duty_dowmramp_kp=10
[I 16:13:47.950] MC:foc_duty_dowmramp_ki=200
[I 16:13:47.950] MC:foc_openloop_rpm=400
[I 16:13:47.950] MC:foc_sl_openloop_hyst=0.1
[I 16:13:47.950] MC:foc_sl_openloop_time=0.1
[I 16:13:47.950] MC:foc_sl_d_current_duty=0
[I 16:13:47.950] MC:foc_sl_d_current_factor=0
[I 16:13:47.950] MC:foc_hall_table0=255
[I 16:13:47.950] MC:foc_hall_table1=52
[I 16:13:47.950] MC:foc_hall_table2=115
[I 16:13:47.950] MC:foc_hall_table3=82
[I 16:13:47.950] MC:foc_hall_table4=179
[I 16:13:47.950] MC:foc_hall_table5=15
[I 16:13:47.950] MC:foc_hall_table6=149
[I 16:13:47.950] MC:foc_hall_table7=255
[I 16:13:47.950] MC:foc_sl_erpm=2500
[I 16:13:47.950] MC:foc_sample_v0_v7=0
[I 16:13:47.950] MC:foc_sample_high_current=0
[I 16:13:47.950] MC:foc_sat_comp=0
[I 16:13:47.950] MC:foc_temp_comp=0
[I 16:13:47.950] MC:foc_temp_comp_base_temp=25
[I 16:13:47.950] MC:foc_current_filter_const=0.1
[I 16:13:47.950] MC:s_pid_kp=0.002
[I 16:13:47.950] MC:s_pid_ki=0.002
[I 16:13:47.950] MC:s_pid_kd=0
[I 16:13:47.950] MC:s_pid_kd_filter=0.2
[I 16:13:47.950] MC:s_pid_min_rpm=900
[I 16:13:47.950] MC:s_pid_allow_braking=1
[I 16:13:47.950] MC:p_pid_kp=0.03
[I 16:13:47.950] MC:p_pid_ki=0
[I 16:13:47.950] MC:p_pid_kd=0.0004
[I 16:13:47.950] MC:p_pid_kd_filter=0.2
[I 16:13:47.950] MC:p_pid_ang_div=1
[I 16:13:47.950] MC:cc_startup_boost_duty=0.01
[I 16:13:47.950] MC:cc_min_current=0.1
[I 16:13:47.950] MC:cc_gain=0.0046
[I 16:13:47.950] MC:cc_ramp_step_max=0.04
[I 16:13:47.950] MC:m_fault_stop_time_ms=500
[I 16:13:47.951] MC:m_duty_ramp_step=0.02
[I 16:13:47.951] MC:m_current_backoff_gain=0.5
[I 16:13:47.951] MC:m_encoder_counts=8192
[I 16:13:47.951] MC:m_sensor_port_mode=0
[I 16:13:47.951] MC:m_invert_direction=0
[I 16:13:47.951] MC:m_drv8301_oc_mode=0
[I 16:13:47.951] MC:m_drv8301_oc_adj=16
[I 16:13:47.951] MC:m_bldc_f_sw_min=3000
[I 16:13:47.951] MC:m_bldc_f_sw_max=40000
[I 16:13:47.951] MC:m_dc_f_sw=35000
[I 16:13:47.951] MC:m_ntc_motor_beta=3380
[I 16:13:47.951] [confs] readAppConfiguration
[I 16:13:47.951] Ask.appConfGet()
[I 16:13:48.036] Stopping configurations timer
[I 16:13:48.036] [confs] GET_APPCONF reply currentId=1
[I 16:13:48.036] Ask.appConfRead()
[I 16:13:48.036] [ask]: conf does not have signature
[I 16:13:48.036] AC:controller_id=1
[I 16:13:48.036] AC:timeout_msec=1000
[I 16:13:48.037] AC:timeout_brake_current=0
[I 16:13:48.037] AC:send_can_status=1
[I 16:13:48.037] AC:send_can_status_rate_hz=200
[I 16:13:48.037] AC:can_baud_rate=2
[I 16:13:48.037] AC:app_to_use=3
[I 16:13:48.037] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:48.037] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:48.037] AC:app_ppm_conf_hyst=0.15
[I 16:13:48.037] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:48.037] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:48.037] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:48.037] AC:app_ppm_conf_median_filter=1
[I 16:13:48.037] AC:app_ppm_conf_safe_start=1
[I 16:13:48.037] AC:app_ppm_conf_throttle_exp=0.5
[I 16:13:48.037] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:13:48.037] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:13:48.038] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:48.038] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:48.038] AC:app_ppm_conf_multi_esc=1
[I 16:13:48.038] AC:app_ppm_conf_tc=1
[I 16:13:48.038] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:48.038] AC:app_adc_conf_ctrl_type=0
[I 16:13:48.038] AC:app_adc_conf_hyst=0.15
[I 16:13:48.038] AC:app_adc_conf_voltage_start=0.9
[I 16:13:48.038] AC:app_adc_conf_voltage_end=3
[I 16:13:48.038] AC:app_adc_conf_voltage_center=2
[I 16:13:48.038] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:48.038] AC:app_adc_conf_voltage2_end=3
[I 16:13:48.038] AC:app_adc_conf_use_filter=1
[I 16:13:48.038] AC:app_adc_conf_safe_start=1
[I 16:13:48.038] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:48.038] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:48.038] AC:app_adc_conf_voltage_inverted=0
[I 16:13:48.038] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:48.039] AC:app_adc_conf_throttle_exp=0
[I 16:13:48.039] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:48.039] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:48.039] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:48.039] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:48.039] AC:app_adc_conf_multi_esc=0
[I 16:13:48.039] AC:app_adc_conf_tc=0
[I 16:13:48.039] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:48.039] AC:app_adc_conf_update_rate_hz=500
[I 16:13:48.039] AC:app_uart_baudrate=9600
[I 16:13:48.039] AC:app_chuk_conf_ctrl_type=1
[I 16:13:48.039] AC:app_chuk_conf_hyst=0.15
[I 16:13:48.039] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:48.040] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:48.040] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:48.040] AC:app_chuk_conf_throttle_exp=0
[I 16:13:48.040] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:48.040] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:48.040] AC:app_chuk_conf_multi_esc=0
[I 16:13:48.040] AC:app_chuk_conf_tc=0
[I 16:13:48.040] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:48.040] AC:app_nrf_conf_speed=2
[I 16:13:48.040] AC:app_nrf_conf_power=3
[I 16:13:48.040] AC:app_nrf_conf_crc_type=1
[I 16:13:48.040] AC:app_nrf_conf_retry_delay=0
[I 16:13:48.040] AC:app_nrf_conf_retries=3
[I 16:13:48.040] AC:app_nrf_conf_channel=76
[I 16:13:48.040] AC:app_nrf_conf_address=13027072
[I 16:13:48.040] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:48.041] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:48.041] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:48.041] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:48.041] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:48.041] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:48.041] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:48.041] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:48.041] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:48.041] [modes] modifying 2 confs
[I 16:13:48.041] [modes] Apply conf:l_max_erpm=6238.87903895798
[I 16:13:48.042] [modes] Apply conf:l_current_max=55
[I 16:13:48.042] [modes] Apply conf:l_current_min=-60
[I 16:13:48.042] [modes] Apply conf:l_in_current_max=35
[I 16:13:48.043] [modes] Apply conf:l_in_current_min=-7
[I 16:13:48.043] [modes] Apply conf:l_temp_fet_start=60
[I 16:13:48.043] [modes] Apply conf:l_temp_fet_end=70
[I 16:13:48.043] [modes] Apply conf:l_temp_motor_start=60
[I 16:13:48.044] [modes] Apply conf:l_temp_motor_end=70
[I 16:13:48.044] [modes] Apply conf:l_watt_max=15000
[I 16:13:48.044] [modes] Apply conf:l_watt_min=-15000
[I 16:13:48.045] [modes] Apply conf:l_abs_current_max=80
[I 16:13:48.045] [modes] Apply conf:l_battery_cut_start=42
[I 16:13:48.045] [modes] Apply conf:l_battery_cut_end=40
[I 16:13:48.047] [modes] Apply conf:l_max_erpm=6238.87903895798
[I 16:13:48.047] [modes] Apply conf:l_current_max=55
[I 16:13:48.047] [modes] Apply conf:l_current_min=-60
[I 16:13:48.047] [modes] Apply conf:l_in_current_max=35
[I 16:13:48.047] [modes] Apply conf:l_in_current_min=-7
[I 16:13:48.048] [modes] Apply conf:l_temp_fet_start=60
[I 16:13:48.048] [modes] Apply conf:l_temp_fet_end=70
[I 16:13:48.048] [modes] Apply conf:l_temp_motor_start=60
[I 16:13:48.048] [modes] Apply conf:l_temp_motor_end=70
[I 16:13:48.048] [modes] Apply conf:l_watt_max=15000
[I 16:13:48.048] [modes] Apply conf:l_watt_min=-15000
[I 16:13:48.048] [modes] Apply conf:l_abs_current_max=80
[I 16:13:48.048] [modes] Apply conf:l_battery_cut_start=42
[I 16:13:48.049] [modes] Apply conf:l_battery_cut_end=40
[I 16:13:48.049] [confs] write()
[I 16:13:48.049] [confs] writeMotorConfiguration
[I 16:13:48.049] Ask.motorConfWrite()
[I 16:13:48.049] MC:pwm_mode=1
[I 16:13:48.049] MC:comm_mode=0
[I 16:13:48.049] MC:motor_type=2
[I 16:13:48.049] MC:sensor_mode=2
[I 16:13:48.049] MC:l_current_max=55
[I 16:13:48.050] MC:l_current_min=-60
[I 16:13:48.050] MC:l_in_current_max=35
[I 16:13:48.050] MC:l_in_current_min=-7
[I 16:13:48.050] MC:l_abs_current_max=80
[I 16:13:48.050] MC:l_min_erpm=-60000
[I 16:13:48.050] MC:l_max_erpm=6238.87903895798
[I 16:13:48.050] MC:l_erpm_start=0.8
[I 16:13:48.050] MC:l_max_erpm_fbrake=300
[I 16:13:48.050] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:48.050] MC:l_min_vin=6
[I 16:13:48.050] MC:l_max_vin=57
[I 16:13:48.050] MC:l_battery_cut_start=42
[I 16:13:48.050] MC:l_battery_cut_end=40
[I 16:13:48.050] MC:l_slow_abs_current=1
[I 16:13:48.050] MC:l_temp_fet_start=60
[I 16:13:48.050] MC:l_temp_fet_end=70
[I 16:13:48.050] MC:l_temp_motor_start=60
[I 16:13:48.050] MC:l_temp_motor_end=70
[I 16:13:48.050] MC:l_temp_accel_dec=0.1
[I 16:13:48.050] MC:l_min_duty=0.005
[I 16:13:48.050] MC:l_max_duty=0.95
[I 16:13:48.050] MC:l_watt_max=15000
[I 16:13:48.050] MC:l_watt_min=-15000
[I 16:13:48.050] MC:sl_min_erpm=150
[I 16:13:48.050] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:48.050] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:48.050] MC:sl_cycle_int_limit=62
[I 16:13:48.050] MC:sl_phase_advance_at_br=0.8
[I 16:13:48.050] MC:sl_cycle_int_rpm_br=80000
[I 16:13:48.050] MC:sl_bemf_coupling_k=600
[I 16:13:48.050] MC:hall_table_0=255
[I 16:13:48.050] MC:hall_table_1=1
[I 16:13:48.050] MC:hall_table_2=3
[I 16:13:48.050] MC:hall_table_3=2
[I 16:13:48.050] MC:hall_table_4=5
[I 16:13:48.050] MC:hall_table_5=6
[I 16:13:48.050] MC:hall_table_6=4
[I 16:13:48.050] MC:hall_table_7=255
[I 16:13:48.050] MC:hall_sl_erpm=2000
[I 16:13:48.050] MC:foc_current_kp=0.0044
[I 16:13:48.050] MC:foc_current_ki=13.95
[I 16:13:48.050] MC:foc_f_sw=20000
[I 16:13:48.050] MC:foc_dt_us=0.08
[I 16:13:48.050] MC:foc_encoder_inverted=0
[I 16:13:48.050] MC:foc_encoder_offset=180
[I 16:13:48.050] MC:foc_encoder_ratio=7
[I 16:13:48.050] MC:foc_sensor_mode=2
[I 16:13:48.050] MC:foc_pll_kp=2000
[I 16:13:48.050] MC:foc_pll_ki=40000
[I 16:13:48.050] MC:foc_motor_l=4.37e-06
[I 16:13:48.051] MC:foc_motor_r=0.0139
[I 16:13:48.051] MC:foc_motor_flux_linkage=0.004444
[I 16:13:48.051] MC:foc_observer_gain=5.064e+07
[I 16:13:48.051] MC:foc_observer_gain_slow=0.3
[I 16:13:48.051] MC:foc_duty_dowmramp_kp=10
[I 16:13:48.051] MC:foc_duty_dowmramp_ki=200
[I 16:13:48.051] MC:foc_openloop_rpm=400
[I 16:13:48.051] MC:foc_sl_openloop_hyst=0.1
[I 16:13:48.051] MC:foc_sl_openloop_time=0.1
[I 16:13:48.051] MC:foc_sl_d_current_duty=0
[I 16:13:48.051] MC:foc_sl_d_current_factor=0
[I 16:13:48.051] MC:foc_hall_table0=255
[I 16:13:48.051] MC:foc_hall_table1=86
[I 16:13:48.051] MC:foc_hall_table2=17
[I 16:13:48.051] MC:foc_hall_table3=56
[I 16:13:48.051] MC:foc_hall_table4=155
[I 16:13:48.051] MC:foc_hall_table5=119
[I 16:13:48.051] MC:foc_hall_table6=183
[I 16:13:48.051] MC:foc_hall_table7=255
[I 16:13:48.051] MC:foc_sl_erpm=2500
[I 16:13:48.051] MC:foc_sample_v0_v7=0
[I 16:13:48.051] MC:foc_sample_high_current=0
[I 16:13:48.051] MC:foc_sat_comp=0
[I 16:13:48.051] MC:foc_temp_comp=0
[I 16:13:48.051] MC:foc_temp_comp_base_temp=25
[I 16:13:48.051] MC:foc_current_filter_const=0.1
[I 16:13:48.051] MC:s_pid_kp=0.002
[I 16:13:48.051] MC:s_pid_ki=0.002
[I 16:13:48.051] MC:s_pid_kd=0
[I 16:13:48.051] MC:s_pid_kd_filter=0.2
[I 16:13:48.051] MC:s_pid_min_rpm=900
[I 16:13:48.051] MC:s_pid_allow_braking=1
[I 16:13:48.051] MC:p_pid_kp=0.03
[I 16:13:48.051] MC:p_pid_ki=0
[I 16:13:48.051] MC:p_pid_kd=0.0004
[I 16:13:48.051] MC:p_pid_kd_filter=0.2
[I 16:13:48.051] MC:p_pid_ang_div=1
[I 16:13:48.051] MC:cc_startup_boost_duty=0.01
[I 16:13:48.051] MC:cc_min_current=0.1
[I 16:13:48.051] MC:cc_gain=0.0046
[I 16:13:48.051] MC:cc_ramp_step_max=0.04
[I 16:13:48.051] MC:m_fault_stop_time_ms=500
[I 16:13:48.051] MC:m_duty_ramp_step=0.02
[I 16:13:48.051] MC:m_current_backoff_gain=0.5
[I 16:13:48.051] MC:m_encoder_counts=8192
[I 16:13:48.051] MC:m_sensor_port_mode=0
[I 16:13:48.051] MC:m_invert_direction=0
[I 16:13:48.051] MC:m_drv8301_oc_mode=0
[I 16:13:48.051] MC:m_drv8301_oc_adj=16
[I 16:13:48.051] MC:m_bldc_f_sw_min=3000
[I 16:13:48.051] MC:m_bldc_f_sw_max=40000
[I 16:13:48.051] MC:m_dc_f_sw=35000
[I 16:13:48.051] MC:m_ntc_motor_beta=3380
[I 16:13:48.604] Stopping configurations timer
[I 16:13:48.605] [confs] SET_MCCONF reply currentId=0
[I 16:13:48.606] Ask.appConfWrite()
[I 16:13:48.606] AC:controller_id=0
[I 16:13:48.606] AC:timeout_msec=1000
[I 16:13:48.606] AC:timeout_brake_current=0
[I 16:13:48.607] AC:send_can_status=1
[I 16:13:48.607] AC:send_can_status_rate_hz=200
[I 16:13:48.607] AC:can_baud_rate=2
[I 16:13:48.607] AC:app_to_use=4
[I 16:13:48.607] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:48.607] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:48.607] AC:app_ppm_conf_hyst=0.15
[I 16:13:48.607] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:48.608] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:48.608] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:48.608] AC:app_ppm_conf_median_filter=1
[I 16:13:48.608] AC:app_ppm_conf_safe_start=1
[I 16:13:48.608] AC:app_ppm_conf_throttle_exp=0.85
[I 16:13:48.608] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:13:48.608] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:13:48.608] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:48.609] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:48.609] AC:app_ppm_conf_multi_esc=1
[I 16:13:48.609] AC:app_ppm_conf_tc=1
[I 16:13:48.609] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:48.609] AC:app_adc_conf_ctrl_type=0
[I 16:13:48.609] AC:app_adc_conf_hyst=0.15
[I 16:13:48.609] AC:app_adc_conf_voltage_start=0.9
[I 16:13:48.609] AC:app_adc_conf_voltage_end=3
[I 16:13:48.610] AC:app_adc_conf_voltage_center=2
[I 16:13:48.610] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:48.610] AC:app_adc_conf_voltage2_end=3
[I 16:13:48.610] AC:app_adc_conf_use_filter=1
[I 16:13:48.610] AC:app_adc_conf_safe_start=1
[I 16:13:48.610] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:48.610] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:48.610] AC:app_adc_conf_voltage_inverted=0
[I 16:13:48.611] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:48.612] AC:app_adc_conf_throttle_exp=0
[I 16:13:48.612] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:48.612] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:48.612] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:48.612] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:48.612] AC:app_adc_conf_multi_esc=0
[I 16:13:48.612] AC:app_adc_conf_tc=0
[I 16:13:48.612] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:48.612] AC:app_adc_conf_update_rate_hz=500
[I 16:13:48.612] AC:app_uart_baudrate=115200
[I 16:13:48.612] AC:app_chuk_conf_ctrl_type=1
[I 16:13:48.612] AC:app_chuk_conf_hyst=0.15
[I 16:13:48.612] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:48.612] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:48.612] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:48.612] AC:app_chuk_conf_throttle_exp=0
[I 16:13:48.612] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:48.612] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:48.612] AC:app_chuk_conf_multi_esc=0
[I 16:13:48.612] AC:app_chuk_conf_tc=0
[I 16:13:48.612] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:48.612] AC:app_nrf_conf_speed=2
[I 16:13:48.612] AC:app_nrf_conf_power=3
[I 16:13:48.612] AC:app_nrf_conf_crc_type=1
[I 16:13:48.612] AC:app_nrf_conf_retry_delay=0
[I 16:13:48.612] AC:app_nrf_conf_retries=3
[I 16:13:48.612] AC:app_nrf_conf_channel=76
[I 16:13:48.612] AC:app_nrf_conf_address=13027072
[I 16:13:48.612] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:48.612] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:48.612] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:48.612] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:48.612] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:48.612] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:48.612] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:48.612] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:48.612] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:49.151] Stopping configurations timer
[I 16:13:49.152] [confs] SET_APPCONF reply currentId=0
[I 16:13:49.152] [confs] writeMotorConfiguration
[I 16:13:49.152] Ask.motorConfWrite()
[I 16:13:49.153] MC:pwm_mode=1
[I 16:13:49.153] MC:comm_mode=0
[I 16:13:49.153] MC:motor_type=2
[I 16:13:49.153] MC:sensor_mode=2
[I 16:13:49.153] MC:l_current_max=55
[I 16:13:49.153] MC:l_current_min=-60
[I 16:13:49.153] MC:l_in_current_max=35
[I 16:13:49.154] MC:l_in_current_min=-7
[I 16:13:49.154] MC:l_abs_current_max=80
[I 16:13:49.154] MC:l_min_erpm=-60000
[I 16:13:49.154] MC:l_max_erpm=6238.87903895798
[I 16:13:49.154] MC:l_erpm_start=0.8
[I 16:13:49.154] MC:l_max_erpm_fbrake=300
[I 16:13:49.154] MC:l_max_erpm_fbrake_cc=1500
[I 16:13:49.154] MC:l_min_vin=6
[I 16:13:49.154] MC:l_max_vin=57
[I 16:13:49.154] MC:l_battery_cut_start=42
[I 16:13:49.155] MC:l_battery_cut_end=40
[I 16:13:49.155] MC:l_slow_abs_current=1
[I 16:13:49.155] MC:l_temp_fet_start=60
[I 16:13:49.155] MC:l_temp_fet_end=70
[I 16:13:49.155] MC:l_temp_motor_start=60
[I 16:13:49.155] MC:l_temp_motor_end=70
[I 16:13:49.155] MC:l_temp_accel_dec=0.1
[I 16:13:49.155] MC:l_min_duty=0.005
[I 16:13:49.155] MC:l_max_duty=0.95
[I 16:13:49.155] MC:l_watt_max=15000
[I 16:13:49.156] MC:l_watt_min=-15000
[I 16:13:49.156] MC:sl_min_erpm=150
[I 16:13:49.156] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:13:49.156] MC:sl_max_fullbreak_current_dir_change=10
[I 16:13:49.156] MC:sl_cycle_int_limit=62
[I 16:13:49.156] MC:sl_phase_advance_at_br=0.8
[I 16:13:49.156] MC:sl_cycle_int_rpm_br=80000
[I 16:13:49.156] MC:sl_bemf_coupling_k=600
[I 16:13:49.156] MC:hall_table_0=255
[I 16:13:49.156] MC:hall_table_1=1
[I 16:13:49.157] MC:hall_table_2=3
[I 16:13:49.157] MC:hall_table_3=2
[I 16:13:49.157] MC:hall_table_4=5
[I 16:13:49.157] MC:hall_table_5=6
[I 16:13:49.157] MC:hall_table_6=4
[I 16:13:49.157] MC:hall_table_7=255
[I 16:13:49.157] MC:hall_sl_erpm=2000
[I 16:13:49.157] MC:foc_current_kp=0.005
[I 16:13:49.157] MC:foc_current_ki=13.65
[I 16:13:49.157] MC:foc_f_sw=20000
[I 16:13:49.158] MC:foc_dt_us=0.08
[I 16:13:49.158] MC:foc_encoder_inverted=0
[I 16:13:49.158] MC:foc_encoder_offset=180
[I 16:13:49.158] MC:foc_encoder_ratio=7
[I 16:13:49.158] MC:foc_sensor_mode=2
[I 16:13:49.158] MC:foc_pll_kp=2000
[I 16:13:49.158] MC:foc_pll_ki=40000
[I 16:13:49.158] MC:foc_motor_l=4.96e-06
[I 16:13:49.158] MC:foc_motor_r=0.0137
[I 16:13:49.158] MC:foc_motor_flux_linkage=0.004425
[I 16:13:49.159] MC:foc_observer_gain=5.107e+07
[I 16:13:49.159] MC:foc_observer_gain_slow=0.3
[I 16:13:49.159] MC:foc_duty_dowmramp_kp=10
[I 16:13:49.159] MC:foc_duty_dowmramp_ki=200
[I 16:13:49.159] MC:foc_openloop_rpm=400
[I 16:13:49.159] MC:foc_sl_openloop_hyst=0.1
[I 16:13:49.159] MC:foc_sl_openloop_time=0.1
[I 16:13:49.159] MC:foc_sl_d_current_duty=0
[I 16:13:49.159] MC:foc_sl_d_current_factor=0
[I 16:13:49.159] MC:foc_hall_table0=255
[I 16:13:49.159] MC:foc_hall_table1=52
[I 16:13:49.160] MC:foc_hall_table2=115
[I 16:13:49.160] MC:foc_hall_table3=82
[I 16:13:49.160] MC:foc_hall_table4=179
[I 16:13:49.160] MC:foc_hall_table5=15
[I 16:13:49.160] MC:foc_hall_table6=149
[I 16:13:49.160] MC:foc_hall_table7=255
[I 16:13:49.160] MC:foc_sl_erpm=2500
[I 16:13:49.160] MC:foc_sample_v0_v7=0
[I 16:13:49.160] MC:foc_sample_high_current=0
[I 16:13:49.161] MC:foc_sat_comp=0
[I 16:13:49.161] MC:foc_temp_comp=0
[I 16:13:49.161] MC:foc_temp_comp_base_temp=25
[I 16:13:49.161] MC:foc_current_filter_const=0.1
[I 16:13:49.161] MC:s_pid_kp=0.002
[I 16:13:49.161] MC:s_pid_ki=0.002
[I 16:13:49.161] MC:s_pid_kd=0
[I 16:13:49.161] MC:s_pid_kd_filter=0.2
[I 16:13:49.161] MC:s_pid_min_rpm=900
[I 16:13:49.161] MC:s_pid_allow_braking=1
[I 16:13:49.161] MC:p_pid_kp=0.03
[I 16:13:49.161] MC:p_pid_ki=0
[I 16:13:49.161] MC:p_pid_kd=0.0004
[I 16:13:49.162] MC:p_pid_kd_filter=0.2
[I 16:13:49.162] MC:p_pid_ang_div=1
[I 16:13:49.162] MC:cc_startup_boost_duty=0.01
[I 16:13:49.162] MC:cc_min_current=0.1
[I 16:13:49.162] MC:cc_gain=0.0046
[I 16:13:49.162] MC:cc_ramp_step_max=0.04
[I 16:13:49.162] MC:m_fault_stop_time_ms=500
[I 16:13:49.162] MC:m_duty_ramp_step=0.02
[I 16:13:49.162] MC:m_current_backoff_gain=0.5
[I 16:13:49.162] MC:m_encoder_counts=8192
[I 16:13:49.162] MC:m_sensor_port_mode=0
[I 16:13:49.162] MC:m_invert_direction=0
[I 16:13:49.163] MC:m_drv8301_oc_mode=0
[I 16:13:49.163] MC:m_drv8301_oc_adj=16
[I 16:13:49.163] MC:m_bldc_f_sw_min=3000
[I 16:13:49.163] MC:m_bldc_f_sw_max=40000
[I 16:13:49.163] MC:m_dc_f_sw=35000
[I 16:13:49.163] MC:m_ntc_motor_beta=3380
[I 16:13:49.752] Stopping configurations timer
[I 16:13:49.752] [confs] SET_MCCONF reply currentId=1
[I 16:13:49.753] Ask.appConfWrite()
[I 16:13:49.753] AC:controller_id=1
[I 16:13:49.753] AC:timeout_msec=1000
[I 16:13:49.753] AC:timeout_brake_current=0
[I 16:13:49.753] AC:send_can_status=1
[I 16:13:49.753] AC:send_can_status_rate_hz=200
[I 16:13:49.753] AC:can_baud_rate=2
[I 16:13:49.754] AC:app_to_use=3
[I 16:13:49.754] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:13:49.754] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:13:49.754] AC:app_ppm_conf_hyst=0.15
[I 16:13:49.754] AC:app_ppm_conf_pulse_start=1.145
[I 16:13:49.754] AC:app_ppm_conf_pulse_end=1.938
[I 16:13:49.754] AC:app_ppm_conf_pulse_center=1.538
[I 16:13:49.754] AC:app_ppm_conf_median_filter=1
[I 16:13:49.754] AC:app_ppm_conf_safe_start=1
[I 16:13:49.754] AC:app_ppm_conf_throttle_exp=0.5
[I 16:13:49.754] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:13:49.754] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:13:49.754] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:13:49.754] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:13:49.755] AC:app_ppm_conf_multi_esc=1
[I 16:13:49.755] AC:app_ppm_conf_tc=1
[I 16:13:49.755] AC:app_ppm_conf_tc_max_diff=5000
[I 16:13:49.755] AC:app_adc_conf_ctrl_type=0
[I 16:13:49.755] AC:app_adc_conf_hyst=0.15
[I 16:13:49.755] AC:app_adc_conf_voltage_start=0.9
[I 16:13:49.755] AC:app_adc_conf_voltage_end=3
[I 16:13:49.755] AC:app_adc_conf_voltage_center=2
[I 16:13:49.755] AC:app_adc_conf_voltage2_start=0.9
[I 16:13:49.755] AC:app_adc_conf_voltage2_end=3
[I 16:13:49.755] AC:app_adc_conf_use_filter=1
[I 16:13:49.755] AC:app_adc_conf_safe_start=1
[I 16:13:49.756] AC:app_adc_conf_cc_button_inverted=0
[I 16:13:49.756] AC:app_adc_conf_rev_button_inverted=0
[I 16:13:49.756] AC:app_adc_conf_voltage_inverted=0
[I 16:13:49.756] AC:app_adc_conf_voltage2_inverted=0
[I 16:13:49.756] AC:app_adc_conf_throttle_exp=0
[I 16:13:49.756] AC:app_adc_conf_throttle_exp_brake=0
[I 16:13:49.756] AC:app_adc_conf_throttle_exp_mode=3
[I 16:13:49.756] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:13:49.756] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:13:49.756] AC:app_adc_conf_multi_esc=0
[I 16:13:49.756] AC:app_adc_conf_tc=0
[I 16:13:49.756] AC:app_adc_conf_tc_max_diff=5000
[I 16:13:49.756] AC:app_adc_conf_update_rate_hz=500
[I 16:13:49.756] AC:app_uart_baudrate=9600
[I 16:13:49.757] AC:app_chuk_conf_ctrl_type=1
[I 16:13:49.757] AC:app_chuk_conf_hyst=0.15
[I 16:13:49.757] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:13:49.757] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:13:49.757] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:13:49.757] AC:app_chuk_conf_throttle_exp=0
[I 16:13:49.757] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:13:49.757] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:13:49.757] AC:app_chuk_conf_multi_esc=0
[I 16:13:49.757] AC:app_chuk_conf_tc=0
[I 16:13:49.757] AC:app_chuk_conf_tc_max_diff=5000
[I 16:13:49.757] AC:app_nrf_conf_speed=2
[I 16:13:49.757] AC:app_nrf_conf_power=3
[I 16:13:49.758] AC:app_nrf_conf_crc_type=1
[I 16:13:49.758] AC:app_nrf_conf_retry_delay=0
[I 16:13:49.758] AC:app_nrf_conf_retries=3
[I 16:13:49.758] AC:app_nrf_conf_channel=76
[I 16:13:49.758] AC:app_nrf_conf_address=13027072
[I 16:13:49.758] AC:app_nrf_conf_send_crc_ack=1
[I 16:13:49.758] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:13:49.758] AC:ack_app_ppm_conf_cruise_left=0
[I 16:13:49.758] AC:ack_app_ppm_conf_cruise_right=0
[I 16:13:49.758] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:13:49.758] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:13:49.758] AC:ack_app_adc_conf_tc_offset=3000
[I 16:13:49.758] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:13:49.758] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:13:50.203] Stopping configurations timer
[I 16:13:50.203] [confs] SET_APPCONF reply currentId=1
[I 16:13:50.204] [modes] Finishing apply, applied=true
[I 16:13:50.205] [mm] save()
[I 16:13:50.231] [ds] Saving settings for EC8A9C8C71CF
[I 16:13:50.231] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:13:50.231] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"7","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":true},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:13:50.231] void Settings::endGroup()
[I 16:13:52.287] [mw] openRealtime
[I 16:13:52.287] [modes] exit
[I 16:13:52.287] Ask.startRt()
[I 16:13:52.299] [rt] enter
[I 16:13:52.300] [mw] openRealtime
[E 16:13:55.295] Speed abnormal '-0.435335'
[E 16:13:55.389] Speed abnormal '-0.207569'
[E 16:13:56.099] Speed abnormal '-0.261425'
[E 16:13:56.289] Speed abnormal '-0.471239'
[E 16:13:56.382] Speed abnormal '-0.48919'
[E 16:13:56.476] Speed abnormal '-0.447677'
[E 16:13:56.593] Speed abnormal '-0.306305'
[E 16:13:56.869] Speed abnormal '-0.383723'
[E 16:13:56.977] Speed abnormal '-0.336599'
[E 16:13:58.745] Speed abnormal '-0.176153'
[E 16:14:06.194] Speed abnormal '-0.150348'
[E 16:14:09.228] Speed abnormal '-0.001122'
[E 16:14:53.925] Speed abnormal '-0.962673'
[E 16:14:54.040] Speed abnormal '-0.307427'
[E 16:14:54.528] Speed abnormal '-0.0403919'
[I 16:15:24.156] [mw] openRealtime
[I 16:15:24.368] [mw] openRealtime
[E 16:15:44.324] Speed abnormal '-0.914427'
[E 16:15:44.441] Speed abnormal '-1.6168'
[E 16:15:44.529] Speed abnormal '-1.84568'
[E 16:15:44.622] Speed abnormal '-1.4743'
[E 16:15:44.740] Speed abnormal '-0.614854'
[I 16:16:25.964] [mw] openRealtime
[I 16:16:26.004] [mw] openRealtime
[I 16:16:39.304] notification: FAULT: ABS_OVER_CURRENT
[I 16:16:39.308] systemNotification: FAULT: ABS_OVER_CURRENT
[E 16:16:39.318] !!!Fault: ABS_OVER_CURRENT, canId: %2
[I 16:16:39.318] Ask.terminal() cmd=faults, canId=undefined
[E 16:16:45.574] Speed abnormal '-0.221033'
[E 16:16:45.788] Speed abnormal '-0.182885'
[I 16:16:48.205] [rt] exit
[I 16:16:48.221] [modes] enter
[I 16:16:48.222] Ask.stopRt()
[I 16:16:49.321] [modes] editing mode lipo legal
[I 16:16:52.294] M:max_speed, was=7 is=2
[I 16:16:52.296] [mm] save()
[I 16:16:52.335] [ds] Saving settings for EC8A9C8C71CF
[I 16:16:52.335] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:16:52.335] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"2","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:16:52.335] void Settings::endGroup()
[I 16:16:52.624] M:max_speed, was=2 is=20
[I 16:16:52.626] [mm] save()
[I 16:16:52.642] [ds] Saving settings for EC8A9C8C71CF
[I 16:16:52.642] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:16:52.642] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:16:52.643] void Settings::endGroup()
[I 16:16:54.110] [modes] Updating summary for 'lipo legal'
[I 16:16:55.143] createMotorConf FW 3.103
[I 16:16:55.144] [modes] Applying 'lipo legal'
[I 16:16:55.144] [confs] Initializing 2 configuration containers
[I 16:16:55.144] createMotorConf FW 3.103
[I 16:16:55.145] createMotorConf FW 3.103
[I 16:16:55.146] [confs] read()
[I 16:16:55.147] createMotorConf FW 3.103
[I 16:16:55.147] [confs] readMotorConfiguration
[I 16:16:55.147] Ask.motorConfGet()
[I 16:16:55.297] Stopping configurations timer
[I 16:16:55.298] [confs] GET_MCCONF reply currentId=0
[I 16:16:55.298] Ask.motorConfRead()
[I 16:16:55.298] [ask]: conf does not have signature
[I 16:16:55.298] MC:pwm_mode=1
[I 16:16:55.298] MC:comm_mode=0
[I 16:16:55.299] MC:motor_type=2
[I 16:16:55.299] MC:sensor_mode=2
[I 16:16:55.299] MC:l_current_max=55
[I 16:16:55.299] MC:l_current_min=-60
[I 16:16:55.299] MC:l_in_current_max=35
[I 16:16:55.299] MC:l_in_current_min=-7
[I 16:16:55.300] MC:l_abs_current_max=80
[I 16:16:55.301] MC:l_min_erpm=-60000
[I 16:16:55.301] MC:l_max_erpm=6238.88
[I 16:16:55.301] MC:l_erpm_start=0.8
[I 16:16:55.301] MC:l_max_erpm_fbrake=300
[I 16:16:55.301] MC:l_max_erpm_fbrake_cc=1500
[I 16:16:55.302] MC:l_min_vin=6
[I 16:16:55.302] MC:l_max_vin=57
[I 16:16:55.302] MC:l_battery_cut_start=42
[I 16:16:55.302] MC:l_battery_cut_end=40
[I 16:16:55.302] MC:l_slow_abs_current=1
[I 16:16:55.302] MC:l_temp_fet_start=60
[I 16:16:55.303] MC:l_temp_fet_end=70
[I 16:16:55.303] MC:l_temp_motor_start=60
[I 16:16:55.303] MC:l_temp_motor_end=70
[I 16:16:55.303] MC:l_temp_accel_dec=0.1
[I 16:16:55.303] MC:l_min_duty=0.005
[I 16:16:55.304] MC:l_max_duty=0.95
[I 16:16:55.304] MC:l_watt_max=15000
[I 16:16:55.304] MC:l_watt_min=-15000
[I 16:16:55.304] MC:sl_min_erpm=150
[I 16:16:55.304] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:16:55.304] MC:sl_max_fullbreak_current_dir_change=10
[I 16:16:55.305] MC:sl_cycle_int_limit=62
[I 16:16:55.305] MC:sl_phase_advance_at_br=0.8
[I 16:16:55.305] MC:sl_cycle_int_rpm_br=80000
[I 16:16:55.305] MC:sl_bemf_coupling_k=600
[I 16:16:55.305] MC:hall_table_0=255
[I 16:16:55.305] MC:hall_table_1=1
[I 16:16:55.306] MC:hall_table_2=3
[I 16:16:55.306] MC:hall_table_3=2
[I 16:16:55.306] MC:hall_table_4=5
[I 16:16:55.306] MC:hall_table_5=6
[I 16:16:55.306] MC:hall_table_6=4
[I 16:16:55.306] MC:hall_table_7=255
[I 16:16:55.306] MC:hall_sl_erpm=2000
[I 16:16:55.307] MC:foc_current_kp=0.0044
[I 16:16:55.307] MC:foc_current_ki=13.95
[I 16:16:55.307] MC:foc_f_sw=20000
[I 16:16:55.307] MC:foc_dt_us=0.08
[I 16:16:55.307] MC:foc_encoder_inverted=0
[I 16:16:55.307] MC:foc_encoder_offset=180
[I 16:16:55.308] MC:foc_encoder_ratio=7
[I 16:16:55.308] MC:foc_sensor_mode=2
[I 16:16:55.308] MC:foc_pll_kp=2000
[I 16:16:55.308] MC:foc_pll_ki=40000
[I 16:16:55.309] MC:foc_motor_l=4.37e-06
[I 16:16:55.309] MC:foc_motor_r=0.0139
[I 16:16:55.309] MC:foc_motor_flux_linkage=0.004444
[I 16:16:55.309] MC:foc_observer_gain=5.064e+07
[I 16:16:55.309] MC:foc_observer_gain_slow=0.3
[I 16:16:55.310] MC:foc_duty_dowmramp_kp=10
[I 16:16:55.310] MC:foc_duty_dowmramp_ki=200
[I 16:16:55.310] MC:foc_openloop_rpm=400
[I 16:16:55.310] MC:foc_sl_openloop_hyst=0.1
[I 16:16:55.310] MC:foc_sl_openloop_time=0.1
[I 16:16:55.310] MC:foc_sl_d_current_duty=0
[I 16:16:55.310] MC:foc_sl_d_current_factor=0
[I 16:16:55.310] MC:foc_hall_table0=255
[I 16:16:55.310] MC:foc_hall_table1=86
[I 16:16:55.310] MC:foc_hall_table2=17
[I 16:16:55.311] MC:foc_hall_table3=56
[I 16:16:55.311] MC:foc_hall_table4=155
[I 16:16:55.311] MC:foc_hall_table5=119
[I 16:16:55.311] MC:foc_hall_table6=183
[I 16:16:55.311] MC:foc_hall_table7=255
[I 16:16:55.311] MC:foc_sl_erpm=2500
[I 16:16:55.311] MC:foc_sample_v0_v7=0
[I 16:16:55.311] MC:foc_sample_high_current=0
[I 16:16:55.311] MC:foc_sat_comp=0
[I 16:16:55.311] MC:foc_temp_comp=0
[I 16:16:55.311] MC:foc_temp_comp_base_temp=25
[I 16:16:55.311] MC:foc_current_filter_const=0.1
[I 16:16:55.311] MC:s_pid_kp=0.002
[I 16:16:55.311] MC:s_pid_ki=0.002
[I 16:16:55.311] MC:s_pid_kd=0
[I 16:16:55.311] MC:s_pid_kd_filter=0.2
[I 16:16:55.311] MC:s_pid_min_rpm=900
[I 16:16:55.311] MC:s_pid_allow_braking=1
[I 16:16:55.311] MC:p_pid_kp=0.03
[I 16:16:55.311] MC:p_pid_ki=0
[I 16:16:55.311] MC:p_pid_kd=0.0004
[I 16:16:55.311] MC:p_pid_kd_filter=0.2
[I 16:16:55.311] MC:p_pid_ang_div=1
[I 16:16:55.311] MC:cc_startup_boost_duty=0.01
[I 16:16:55.311] MC:cc_min_current=0.1
[I 16:16:55.311] MC:cc_gain=0.0046
[I 16:16:55.311] MC:cc_ramp_step_max=0.04
[I 16:16:55.311] MC:m_fault_stop_time_ms=500
[I 16:16:55.311] MC:m_duty_ramp_step=0.02
[I 16:16:55.311] MC:m_current_backoff_gain=0.5
[I 16:16:55.311] MC:m_encoder_counts=8192
[I 16:16:55.311] MC:m_sensor_port_mode=0
[I 16:16:55.311] MC:m_invert_direction=0
[I 16:16:55.311] MC:m_drv8301_oc_mode=0
[I 16:16:55.311] MC:m_drv8301_oc_adj=16
[I 16:16:55.311] MC:m_bldc_f_sw_min=3000
[I 16:16:55.311] MC:m_bldc_f_sw_max=40000
[I 16:16:55.312] MC:m_dc_f_sw=35000
[I 16:16:55.312] MC:m_ntc_motor_beta=3380
[I 16:16:55.312] [confs] readAppConfiguration
[I 16:16:55.312] Ask.appConfGet()
[I 16:16:55.361] Stopping configurations timer
[I 16:16:55.362] [confs] GET_APPCONF reply currentId=0
[I 16:16:55.362] Ask.appConfRead()
[I 16:16:55.362] [ask]: conf does not have signature
[I 16:16:55.362] AC:controller_id=0
[I 16:16:55.362] AC:timeout_msec=1000
[I 16:16:55.362] AC:timeout_brake_current=0
[I 16:16:55.362] AC:send_can_status=1
[I 16:16:55.362] AC:send_can_status_rate_hz=200
[I 16:16:55.362] AC:can_baud_rate=2
[I 16:16:55.362] AC:app_to_use=4
[I 16:16:55.362] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:16:55.362] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:16:55.362] AC:app_ppm_conf_hyst=0.15
[I 16:16:55.363] AC:app_ppm_conf_pulse_start=1.145
[I 16:16:55.363] AC:app_ppm_conf_pulse_end=1.938
[I 16:16:55.363] AC:app_ppm_conf_pulse_center=1.538
[I 16:16:55.363] AC:app_ppm_conf_median_filter=1
[I 16:16:55.363] AC:app_ppm_conf_safe_start=1
[I 16:16:55.363] AC:app_ppm_conf_throttle_exp=0.85
[I 16:16:55.363] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:16:55.363] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:16:55.363] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:16:55.363] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:16:55.363] AC:app_ppm_conf_multi_esc=1
[I 16:16:55.363] AC:app_ppm_conf_tc=1
[I 16:16:55.363] AC:app_ppm_conf_tc_max_diff=5000
[I 16:16:55.363] AC:app_adc_conf_ctrl_type=0
[I 16:16:55.363] AC:app_adc_conf_hyst=0.15
[I 16:16:55.363] AC:app_adc_conf_voltage_start=0.9
[I 16:16:55.363] AC:app_adc_conf_voltage_end=3
[I 16:16:55.363] AC:app_adc_conf_voltage_center=2
[I 16:16:55.363] AC:app_adc_conf_voltage2_start=0.9
[I 16:16:55.363] AC:app_adc_conf_voltage2_end=3
[I 16:16:55.364] AC:app_adc_conf_use_filter=1
[I 16:16:55.364] AC:app_adc_conf_safe_start=1
[I 16:16:55.364] AC:app_adc_conf_cc_button_inverted=0
[I 16:16:55.364] AC:app_adc_conf_rev_button_inverted=0
[I 16:16:55.364] AC:app_adc_conf_voltage_inverted=0
[I 16:16:55.364] AC:app_adc_conf_voltage2_inverted=0
[I 16:16:55.364] AC:app_adc_conf_throttle_exp=0
[I 16:16:55.364] AC:app_adc_conf_throttle_exp_brake=0
[I 16:16:55.364] AC:app_adc_conf_throttle_exp_mode=3
[I 16:16:55.364] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:16:55.364] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:16:55.364] AC:app_adc_conf_multi_esc=0
[I 16:16:55.364] AC:app_adc_conf_tc=0
[I 16:16:55.364] AC:app_adc_conf_tc_max_diff=5000
[I 16:16:55.364] AC:app_adc_conf_update_rate_hz=500
[I 16:16:55.364] AC:app_uart_baudrate=115200
[I 16:16:55.364] AC:app_chuk_conf_ctrl_type=1
[I 16:16:55.364] AC:app_chuk_conf_hyst=0.15
[I 16:16:55.364] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:16:55.364] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:16:55.365] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:16:55.365] AC:app_chuk_conf_throttle_exp=0
[I 16:16:55.365] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:16:55.365] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:16:55.365] AC:app_chuk_conf_multi_esc=0
[I 16:16:55.365] AC:app_chuk_conf_tc=0
[I 16:16:55.365] AC:app_chuk_conf_tc_max_diff=5000
[I 16:16:55.365] AC:app_nrf_conf_speed=2
[I 16:16:55.365] AC:app_nrf_conf_power=3
[I 16:16:55.365] AC:app_nrf_conf_crc_type=1
[I 16:16:55.365] AC:app_nrf_conf_retry_delay=0
[I 16:16:55.365] AC:app_nrf_conf_retries=3
[I 16:16:55.365] AC:app_nrf_conf_channel=76
[I 16:16:55.365] AC:app_nrf_conf_address=13027072
[I 16:16:55.365] AC:app_nrf_conf_send_crc_ack=1
[I 16:16:55.365] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:16:55.365] AC:ack_app_ppm_conf_cruise_left=0
[I 16:16:55.365] AC:ack_app_ppm_conf_cruise_right=0
[I 16:16:55.365] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:16:55.366] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:16:55.366] AC:ack_app_adc_conf_tc_offset=3000
[I 16:16:55.366] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:16:55.366] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:16:55.366] [confs] readMotorConfiguration
[I 16:16:55.366] Ask.motorConfGet()
[I 16:16:55.512] Stopping configurations timer
[I 16:16:55.512] [confs] GET_MCCONF reply currentId=1
[I 16:16:55.512] Ask.motorConfRead()
[I 16:16:55.513] [ask]: conf does not have signature
[I 16:16:55.513] MC:pwm_mode=1
[I 16:16:55.513] MC:comm_mode=0
[I 16:16:55.513] MC:motor_type=2
[I 16:16:55.513] MC:sensor_mode=2
[I 16:16:55.514] MC:l_current_max=55
[I 16:16:55.514] MC:l_current_min=-60
[I 16:16:55.514] MC:l_in_current_max=35
[I 16:16:55.514] MC:l_in_current_min=-7
[I 16:16:55.514] MC:l_abs_current_max=80
[I 16:16:55.515] MC:l_min_erpm=-60000
[I 16:16:55.515] MC:l_max_erpm=6238.88
[I 16:16:55.515] MC:l_erpm_start=0.8
[I 16:16:55.515] MC:l_max_erpm_fbrake=300
[I 16:16:55.515] MC:l_max_erpm_fbrake_cc=1500
[I 16:16:55.516] MC:l_min_vin=6
[I 16:16:55.516] MC:l_max_vin=57
[I 16:16:55.516] MC:l_battery_cut_start=42
[I 16:16:55.516] MC:l_battery_cut_end=40
[I 16:16:55.516] MC:l_slow_abs_current=1
[I 16:16:55.516] MC:l_temp_fet_start=60
[I 16:16:55.517] MC:l_temp_fet_end=70
[I 16:16:55.517] MC:l_temp_motor_start=60
[I 16:16:55.517] MC:l_temp_motor_end=70
[I 16:16:55.517] MC:l_temp_accel_dec=0.1
[I 16:16:55.517] MC:l_min_duty=0.005
[I 16:16:55.517] MC:l_max_duty=0.95
[I 16:16:55.518] MC:l_watt_max=15000
[I 16:16:55.518] MC:l_watt_min=-15000
[I 16:16:55.518] MC:sl_min_erpm=150
[I 16:16:55.518] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:16:55.518] MC:sl_max_fullbreak_current_dir_change=10
[I 16:16:55.519] MC:sl_cycle_int_limit=62
[I 16:16:55.519] MC:sl_phase_advance_at_br=0.8
[I 16:16:55.519] MC:sl_cycle_int_rpm_br=80000
[I 16:16:55.519] MC:sl_bemf_coupling_k=600
[I 16:16:55.520] MC:hall_table_0=255
[I 16:16:55.520] MC:hall_table_1=1
[I 16:16:55.520] MC:hall_table_2=3
[I 16:16:55.520] MC:hall_table_3=2
[I 16:16:55.521] MC:hall_table_4=5
[I 16:16:55.521] MC:hall_table_5=6
[I 16:16:55.521] MC:hall_table_6=4
[I 16:16:55.521] MC:hall_table_7=255
[I 16:16:55.521] MC:hall_sl_erpm=2000
[I 16:16:55.521] MC:foc_current_kp=0.005
[I 16:16:55.521] MC:foc_current_ki=13.65
[I 16:16:55.522] MC:foc_f_sw=20000
[I 16:16:55.522] MC:foc_dt_us=0.08
[I 16:16:55.522] MC:foc_encoder_inverted=0
[I 16:16:55.522] MC:foc_encoder_offset=180
[I 16:16:55.522] MC:foc_encoder_ratio=7
[I 16:16:55.522] MC:foc_sensor_mode=2
[I 16:16:55.523] MC:foc_pll_kp=2000
[I 16:16:55.523] MC:foc_pll_ki=40000
[I 16:16:55.523] MC:foc_motor_l=4.96e-06
[I 16:16:55.523] MC:foc_motor_r=0.0137
[I 16:16:55.523] MC:foc_motor_flux_linkage=0.004425
[I 16:16:55.523] MC:foc_observer_gain=5.107e+07
[I 16:16:55.524] MC:foc_observer_gain_slow=0.3
[I 16:16:55.524] MC:foc_duty_dowmramp_kp=10
[I 16:16:55.524] MC:foc_duty_dowmramp_ki=200
[I 16:16:55.524] MC:foc_openloop_rpm=400
[I 16:16:55.524] MC:foc_sl_openloop_hyst=0.1
[I 16:16:55.524] MC:foc_sl_openloop_time=0.1
[I 16:16:55.525] MC:foc_sl_d_current_duty=0
[I 16:16:55.525] MC:foc_sl_d_current_factor=0
[I 16:16:55.525] MC:foc_hall_table0=255
[I 16:16:55.525] MC:foc_hall_table1=52
[I 16:16:55.525] MC:foc_hall_table2=115
[I 16:16:55.525] MC:foc_hall_table3=82
[I 16:16:55.525] MC:foc_hall_table4=179
[I 16:16:55.526] MC:foc_hall_table5=15
[I 16:16:55.526] MC:foc_hall_table6=149
[I 16:16:55.526] MC:foc_hall_table7=255
[I 16:16:55.526] MC:foc_sl_erpm=2500
[I 16:16:55.526] MC:foc_sample_v0_v7=0
[I 16:16:55.526] MC:foc_sample_high_current=0
[I 16:16:55.527] MC:foc_sat_comp=0
[I 16:16:55.527] MC:foc_temp_comp=0
[I 16:16:55.527] MC:foc_temp_comp_base_temp=25
[I 16:16:55.527] MC:foc_current_filter_const=0.1
[I 16:16:55.527] MC:s_pid_kp=0.002
[I 16:16:55.527] MC:s_pid_ki=0.002
[I 16:16:55.527] MC:s_pid_kd=0
[I 16:16:55.528] MC:s_pid_kd_filter=0.2
[I 16:16:55.528] MC:s_pid_min_rpm=900
[I 16:16:55.528] MC:s_pid_allow_braking=1
[I 16:16:55.528] MC:p_pid_kp=0.03
[I 16:16:55.528] MC:p_pid_ki=0
[I 16:16:55.528] MC:p_pid_kd=0.0004
[I 16:16:55.529] MC:p_pid_kd_filter=0.2
[I 16:16:55.529] MC:p_pid_ang_div=1
[I 16:16:55.529] MC:cc_startup_boost_duty=0.01
[I 16:16:55.529] MC:cc_min_current=0.1
[I 16:16:55.529] MC:cc_gain=0.0046
[I 16:16:55.531] MC:cc_ramp_step_max=0.04
[I 16:16:55.531] MC:m_fault_stop_time_ms=500
[I 16:16:55.531] MC:m_duty_ramp_step=0.02
[I 16:16:55.531] MC:m_current_backoff_gain=0.5
[I 16:16:55.531] MC:m_encoder_counts=8192
[I 16:16:55.531] MC:m_sensor_port_mode=0
[I 16:16:55.531] MC:m_invert_direction=0
[I 16:16:55.531] MC:m_drv8301_oc_mode=0
[I 16:16:55.531] MC:m_drv8301_oc_adj=16
[I 16:16:55.531] MC:m_bldc_f_sw_min=3000
[I 16:16:55.531] MC:m_bldc_f_sw_max=40000
[I 16:16:55.531] MC:m_dc_f_sw=35000
[I 16:16:55.531] MC:m_ntc_motor_beta=3380
[I 16:16:55.532] [confs] readAppConfiguration
[I 16:16:55.532] Ask.appConfGet()
[I 16:16:55.596] Stopping configurations timer
[I 16:16:55.596] [confs] GET_APPCONF reply currentId=1
[I 16:16:55.596] Ask.appConfRead()
[I 16:16:55.596] [ask]: conf does not have signature
[I 16:16:55.596] AC:controller_id=1
[I 16:16:55.596] AC:timeout_msec=1000
[I 16:16:55.596] AC:timeout_brake_current=0
[I 16:16:55.596] AC:send_can_status=1
[I 16:16:55.596] AC:send_can_status_rate_hz=200
[I 16:16:55.596] AC:can_baud_rate=2
[I 16:16:55.596] AC:app_to_use=3
[I 16:16:55.597] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:16:55.597] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:16:55.597] AC:app_ppm_conf_hyst=0.15
[I 16:16:55.597] AC:app_ppm_conf_pulse_start=1.145
[I 16:16:55.597] AC:app_ppm_conf_pulse_end=1.938
[I 16:16:55.597] AC:app_ppm_conf_pulse_center=1.538
[I 16:16:55.597] AC:app_ppm_conf_median_filter=1
[I 16:16:55.597] AC:app_ppm_conf_safe_start=1
[I 16:16:55.597] AC:app_ppm_conf_throttle_exp=0.5
[I 16:16:55.597] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:16:55.597] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:16:55.597] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:16:55.597] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:16:55.597] AC:app_ppm_conf_multi_esc=1
[I 16:16:55.597] AC:app_ppm_conf_tc=1
[I 16:16:55.597] AC:app_ppm_conf_tc_max_diff=5000
[I 16:16:55.597] AC:app_adc_conf_ctrl_type=0
[I 16:16:55.597] AC:app_adc_conf_hyst=0.15
[I 16:16:55.597] AC:app_adc_conf_voltage_start=0.9
[I 16:16:55.597] AC:app_adc_conf_voltage_end=3
[I 16:16:55.598] AC:app_adc_conf_voltage_center=2
[I 16:16:55.598] AC:app_adc_conf_voltage2_start=0.9
[I 16:16:55.598] AC:app_adc_conf_voltage2_end=3
[I 16:16:55.598] AC:app_adc_conf_use_filter=1
[I 16:16:55.598] AC:app_adc_conf_safe_start=1
[I 16:16:55.598] AC:app_adc_conf_cc_button_inverted=0
[I 16:16:55.598] AC:app_adc_conf_rev_button_inverted=0
[I 16:16:55.598] AC:app_adc_conf_voltage_inverted=0
[I 16:16:55.598] AC:app_adc_conf_voltage2_inverted=0
[I 16:16:55.598] AC:app_adc_conf_throttle_exp=0
[I 16:16:55.598] AC:app_adc_conf_throttle_exp_brake=0
[I 16:16:55.598] AC:app_adc_conf_throttle_exp_mode=3
[I 16:16:55.598] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:16:55.598] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:16:55.598] AC:app_adc_conf_multi_esc=0
[I 16:16:55.598] AC:app_adc_conf_tc=0
[I 16:16:55.598] AC:app_adc_conf_tc_max_diff=5000
[I 16:16:55.598] AC:app_adc_conf_update_rate_hz=500
[I 16:16:55.598] AC:app_uart_baudrate=9600
[I 16:16:55.598] AC:app_chuk_conf_ctrl_type=1
[I 16:16:55.598] AC:app_chuk_conf_hyst=0.15
[I 16:16:55.598] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:16:55.599] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:16:55.599] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:16:55.599] AC:app_chuk_conf_throttle_exp=0
[I 16:16:55.599] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:16:55.599] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:16:55.599] AC:app_chuk_conf_multi_esc=0
[I 16:16:55.599] AC:app_chuk_conf_tc=0
[I 16:16:55.599] AC:app_chuk_conf_tc_max_diff=5000
[I 16:16:55.599] AC:app_nrf_conf_speed=2
[I 16:16:55.599] AC:app_nrf_conf_power=3
[I 16:16:55.599] AC:app_nrf_conf_crc_type=1
[I 16:16:55.599] AC:app_nrf_conf_retry_delay=0
[I 16:16:55.599] AC:app_nrf_conf_retries=3
[I 16:16:55.599] AC:app_nrf_conf_channel=76
[I 16:16:55.599] AC:app_nrf_conf_address=13027072
[I 16:16:55.599] AC:app_nrf_conf_send_crc_ack=1
[I 16:16:55.599] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:16:55.599] AC:ack_app_ppm_conf_cruise_left=0
[I 16:16:55.599] AC:ack_app_ppm_conf_cruise_right=0
[I 16:16:55.599] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:16:55.599] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:16:55.600] AC:ack_app_adc_conf_tc_offset=3000
[I 16:16:55.600] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:16:55.600] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:16:55.600] [modes] modifying 2 confs
[I 16:16:55.600] [modes] Apply conf:l_max_erpm=17825.36868273708
[I 16:16:55.601] [modes] Apply conf:l_current_max=55
[I 16:16:55.601] [modes] Apply conf:l_current_min=-60
[I 16:16:55.601] [modes] Apply conf:l_in_current_max=35
[I 16:16:55.602] [modes] Apply conf:l_in_current_min=-7
[I 16:16:55.602] [modes] Apply conf:l_temp_fet_start=60
[I 16:16:55.602] [modes] Apply conf:l_temp_fet_end=70
[I 16:16:55.603] [modes] Apply conf:l_temp_motor_start=60
[I 16:16:55.603] [modes] Apply conf:l_temp_motor_end=70
[I 16:16:55.603] [modes] Apply conf:l_watt_max=15000
[I 16:16:55.603] [modes] Apply conf:l_watt_min=-15000
[I 16:16:55.604] [modes] Apply conf:l_abs_current_max=80
[I 16:16:55.604] [modes] Apply conf:l_battery_cut_start=42
[I 16:16:55.604] [modes] Apply conf:l_battery_cut_end=40
[I 16:16:55.605] [modes] Apply conf:l_max_erpm=17825.36868273708
[I 16:16:55.606] [modes] Apply conf:l_current_max=55
[I 16:16:55.606] [modes] Apply conf:l_current_min=-60
[I 16:16:55.606] [modes] Apply conf:l_in_current_max=35
[I 16:16:55.606] [modes] Apply conf:l_in_current_min=-7
[I 16:16:55.607] [modes] Apply conf:l_temp_fet_start=60
[I 16:16:55.607] [modes] Apply conf:l_temp_fet_end=70
[I 16:16:55.607] [modes] Apply conf:l_temp_motor_start=60
[I 16:16:55.607] [modes] Apply conf:l_temp_motor_end=70
[I 16:16:55.608] [modes] Apply conf:l_watt_max=15000
[I 16:16:55.608] [modes] Apply conf:l_watt_min=-15000
[I 16:16:55.608] [modes] Apply conf:l_abs_current_max=80
[I 16:16:55.608] [modes] Apply conf:l_battery_cut_start=42
[I 16:16:55.609] [modes] Apply conf:l_battery_cut_end=40
[I 16:16:55.609] [confs] write()
[I 16:16:55.609] [confs] writeMotorConfiguration
[I 16:16:55.609] Ask.motorConfWrite()
[I 16:16:55.610] MC:pwm_mode=1
[I 16:16:55.610] MC:comm_mode=0
[I 16:16:55.610] MC:motor_type=2
[I 16:16:55.610] MC:sensor_mode=2
[I 16:16:55.610] MC:l_current_max=55
[I 16:16:55.610] MC:l_current_min=-60
[I 16:16:55.610] MC:l_in_current_max=35
[I 16:16:55.610] MC:l_in_current_min=-7
[I 16:16:55.610] MC:l_abs_current_max=80
[I 16:16:55.610] MC:l_min_erpm=-60000
[I 16:16:55.610] MC:l_max_erpm=17825.36868273708
[I 16:16:55.610] MC:l_erpm_start=0.8
[I 16:16:55.610] MC:l_max_erpm_fbrake=300
[I 16:16:55.610] MC:l_max_erpm_fbrake_cc=1500
[I 16:16:55.610] MC:l_min_vin=6
[I 16:16:55.610] MC:l_max_vin=57
[I 16:16:55.610] MC:l_battery_cut_start=42
[I 16:16:55.610] MC:l_battery_cut_end=40
[I 16:16:55.610] MC:l_slow_abs_current=1
[I 16:16:55.610] MC:l_temp_fet_start=60
[I 16:16:55.610] MC:l_temp_fet_end=70
[I 16:16:55.610] MC:l_temp_motor_start=60
[I 16:16:55.610] MC:l_temp_motor_end=70
[I 16:16:55.610] MC:l_temp_accel_dec=0.1
[I 16:16:55.610] MC:l_min_duty=0.005
[I 16:16:55.610] MC:l_max_duty=0.95
[I 16:16:55.610] MC:l_watt_max=15000
[I 16:16:55.610] MC:l_watt_min=-15000
[I 16:16:55.610] MC:sl_min_erpm=150
[I 16:16:55.610] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:16:55.610] MC:sl_max_fullbreak_current_dir_change=10
[I 16:16:55.610] MC:sl_cycle_int_limit=62
[I 16:16:55.610] MC:sl_phase_advance_at_br=0.8
[I 16:16:55.610] MC:sl_cycle_int_rpm_br=80000
[I 16:16:55.610] MC:sl_bemf_coupling_k=600
[I 16:16:55.610] MC:hall_table_0=255
[I 16:16:55.610] MC:hall_table_1=1
[I 16:16:55.610] MC:hall_table_2=3
[I 16:16:55.610] MC:hall_table_3=2
[I 16:16:55.610] MC:hall_table_4=5
[I 16:16:55.610] MC:hall_table_5=6
[I 16:16:55.610] MC:hall_table_6=4
[I 16:16:55.610] MC:hall_table_7=255
[I 16:16:55.610] MC:hall_sl_erpm=2000
[I 16:16:55.610] MC:foc_current_kp=0.0044
[I 16:16:55.610] MC:foc_current_ki=13.95
[I 16:16:55.610] MC:foc_f_sw=20000
[I 16:16:55.610] MC:foc_dt_us=0.08
[I 16:16:55.610] MC:foc_encoder_inverted=0
[I 16:16:55.610] MC:foc_encoder_offset=180
[I 16:16:55.610] MC:foc_encoder_ratio=7
[I 16:16:55.610] MC:foc_sensor_mode=2
[I 16:16:55.610] MC:foc_pll_kp=2000
[I 16:16:55.610] MC:foc_pll_ki=40000
[I 16:16:55.610] MC:foc_motor_l=4.37e-06
[I 16:16:55.611] MC:foc_motor_r=0.0139
[I 16:16:55.611] MC:foc_motor_flux_linkage=0.004444
[I 16:16:55.611] MC:foc_observer_gain=5.064e+07
[I 16:16:55.611] MC:foc_observer_gain_slow=0.3
[I 16:16:55.611] MC:foc_duty_dowmramp_kp=10
[I 16:16:55.611] MC:foc_duty_dowmramp_ki=200
[I 16:16:55.611] MC:foc_openloop_rpm=400
[I 16:16:55.611] MC:foc_sl_openloop_hyst=0.1
[I 16:16:55.611] MC:foc_sl_openloop_time=0.1
[I 16:16:55.611] MC:foc_sl_d_current_duty=0
[I 16:16:55.611] MC:foc_sl_d_current_factor=0
[I 16:16:55.611] MC:foc_hall_table0=255
[I 16:16:55.611] MC:foc_hall_table1=86
[I 16:16:55.611] MC:foc_hall_table2=17
[I 16:16:55.611] MC:foc_hall_table3=56
[I 16:16:55.611] MC:foc_hall_table4=155
[I 16:16:55.611] MC:foc_hall_table5=119
[I 16:16:55.611] MC:foc_hall_table6=183
[I 16:16:55.611] MC:foc_hall_table7=255
[I 16:16:55.611] MC:foc_sl_erpm=2500
[I 16:16:55.611] MC:foc_sample_v0_v7=0
[I 16:16:55.611] MC:foc_sample_high_current=0
[I 16:16:55.611] MC:foc_sat_comp=0
[I 16:16:55.611] MC:foc_temp_comp=0
[I 16:16:55.611] MC:foc_temp_comp_base_temp=25
[I 16:16:55.611] MC:foc_current_filter_const=0.1
[I 16:16:55.611] MC:s_pid_kp=0.002
[I 16:16:55.611] MC:s_pid_ki=0.002
[I 16:16:55.611] MC:s_pid_kd=0
[I 16:16:55.611] MC:s_pid_kd_filter=0.2
[I 16:16:55.611] MC:s_pid_min_rpm=900
[I 16:16:55.611] MC:s_pid_allow_braking=1
[I 16:16:55.611] MC:p_pid_kp=0.03
[I 16:16:55.611] MC:p_pid_ki=0
[I 16:16:55.611] MC:p_pid_kd=0.0004
[I 16:16:55.611] MC:p_pid_kd_filter=0.2
[I 16:16:55.611] MC:p_pid_ang_div=1
[I 16:16:55.611] MC:cc_startup_boost_duty=0.01
[I 16:16:55.611] MC:cc_min_current=0.1
[I 16:16:55.611] MC:cc_gain=0.0046
[I 16:16:55.611] MC:cc_ramp_step_max=0.04
[I 16:16:55.611] MC:m_fault_stop_time_ms=500
[I 16:16:55.611] MC:m_duty_ramp_step=0.02
[I 16:16:55.611] MC:m_current_backoff_gain=0.5
[I 16:16:55.611] MC:m_encoder_counts=8192
[I 16:16:55.611] MC:m_sensor_port_mode=0
[I 16:16:55.611] MC:m_invert_direction=0
[I 16:16:55.611] MC:m_drv8301_oc_mode=0
[I 16:16:55.611] MC:m_drv8301_oc_adj=16
[I 16:16:55.611] MC:m_bldc_f_sw_min=3000
[I 16:16:55.611] MC:m_bldc_f_sw_max=40000
[I 16:16:55.611] MC:m_dc_f_sw=35000
[I 16:16:55.611] MC:m_ntc_motor_beta=3380
[I 16:16:56.149] Stopping configurations timer
[I 16:16:56.150] [confs] SET_MCCONF reply currentId=0
[I 16:16:56.151] Ask.appConfWrite()
[I 16:16:56.151] AC:controller_id=0
[I 16:16:56.151] AC:timeout_msec=1000
[I 16:16:56.151] AC:timeout_brake_current=0
[I 16:16:56.151] AC:send_can_status=1
[I 16:16:56.151] AC:send_can_status_rate_hz=200
[I 16:16:56.151] AC:can_baud_rate=2
[I 16:16:56.151] AC:app_to_use=4
[I 16:16:56.152] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:16:56.152] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:16:56.152] AC:app_ppm_conf_hyst=0.15
[I 16:16:56.152] AC:app_ppm_conf_pulse_start=1.145
[I 16:16:56.152] AC:app_ppm_conf_pulse_end=1.938
[I 16:16:56.152] AC:app_ppm_conf_pulse_center=1.538
[I 16:16:56.152] AC:app_ppm_conf_median_filter=1
[I 16:16:56.152] AC:app_ppm_conf_safe_start=1
[I 16:16:56.152] AC:app_ppm_conf_throttle_exp=0.85
[I 16:16:56.152] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:16:56.152] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:16:56.152] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:16:56.153] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:16:56.153] AC:app_ppm_conf_multi_esc=1
[I 16:16:56.153] AC:app_ppm_conf_tc=1
[I 16:16:56.153] AC:app_ppm_conf_tc_max_diff=5000
[I 16:16:56.153] AC:app_adc_conf_ctrl_type=0
[I 16:16:56.153] AC:app_adc_conf_hyst=0.15
[I 16:16:56.153] AC:app_adc_conf_voltage_start=0.9
[I 16:16:56.153] AC:app_adc_conf_voltage_end=3
[I 16:16:56.153] AC:app_adc_conf_voltage_center=2
[I 16:16:56.153] AC:app_adc_conf_voltage2_start=0.9
[I 16:16:56.153] AC:app_adc_conf_voltage2_end=3
[I 16:16:56.153] AC:app_adc_conf_use_filter=1
[I 16:16:56.153] AC:app_adc_conf_safe_start=1
[I 16:16:56.153] AC:app_adc_conf_cc_button_inverted=0
[I 16:16:56.153] AC:app_adc_conf_rev_button_inverted=0
[I 16:16:56.154] AC:app_adc_conf_voltage_inverted=0
[I 16:16:56.154] AC:app_adc_conf_voltage2_inverted=0
[I 16:16:56.154] AC:app_adc_conf_throttle_exp=0
[I 16:16:56.154] AC:app_adc_conf_throttle_exp_brake=0
[I 16:16:56.154] AC:app_adc_conf_throttle_exp_mode=3
[I 16:16:56.154] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:16:56.154] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:16:56.154] AC:app_adc_conf_multi_esc=0
[I 16:16:56.154] AC:app_adc_conf_tc=0
[I 16:16:56.154] AC:app_adc_conf_tc_max_diff=5000
[I 16:16:56.154] AC:app_adc_conf_update_rate_hz=500
[I 16:16:56.154] AC:app_uart_baudrate=115200
[I 16:16:56.154] AC:app_chuk_conf_ctrl_type=1
[I 16:16:56.154] AC:app_chuk_conf_hyst=0.15
[I 16:16:56.154] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:16:56.154] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:16:56.154] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:16:56.155] AC:app_chuk_conf_throttle_exp=0
[I 16:16:56.155] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:16:56.155] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:16:56.155] AC:app_chuk_conf_multi_esc=0
[I 16:16:56.155] AC:app_chuk_conf_tc=0
[I 16:16:56.155] AC:app_chuk_conf_tc_max_diff=5000
[I 16:16:56.155] AC:app_nrf_conf_speed=2
[I 16:16:56.155] AC:app_nrf_conf_power=3
[I 16:16:56.155] AC:app_nrf_conf_crc_type=1
[I 16:16:56.155] AC:app_nrf_conf_retry_delay=0
[I 16:16:56.155] AC:app_nrf_conf_retries=3
[I 16:16:56.155] AC:app_nrf_conf_channel=76
[I 16:16:56.155] AC:app_nrf_conf_address=13027072
[I 16:16:56.155] AC:app_nrf_conf_send_crc_ack=1
[I 16:16:56.156] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:16:56.156] AC:ack_app_ppm_conf_cruise_left=0
[I 16:16:56.156] AC:ack_app_ppm_conf_cruise_right=0
[I 16:16:56.156] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:16:56.156] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:16:56.156] AC:ack_app_adc_conf_tc_offset=3000
[I 16:16:56.156] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:16:56.156] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:16:56.830] Stopping configurations timer
[I 16:16:56.831] [confs] SET_APPCONF reply currentId=0
[I 16:16:56.832] [confs] writeMotorConfiguration
[I 16:16:56.832] Ask.motorConfWrite()
[I 16:16:56.832] MC:pwm_mode=1
[I 16:16:56.832] MC:comm_mode=0
[I 16:16:56.833] MC:motor_type=2
[I 16:16:56.833] MC:sensor_mode=2
[I 16:16:56.833] MC:l_current_max=55
[I 16:16:56.833] MC:l_current_min=-60
[I 16:16:56.833] MC:l_in_current_max=35
[I 16:16:56.833] MC:l_in_current_min=-7
[I 16:16:56.833] MC:l_abs_current_max=80
[I 16:16:56.834] MC:l_min_erpm=-60000
[I 16:16:56.834] MC:l_max_erpm=17825.36868273708
[I 16:16:56.834] MC:l_erpm_start=0.8
[I 16:16:56.834] MC:l_max_erpm_fbrake=300
[I 16:16:56.834] MC:l_max_erpm_fbrake_cc=1500
[I 16:16:56.834] MC:l_min_vin=6
[I 16:16:56.834] MC:l_max_vin=57
[I 16:16:56.834] MC:l_battery_cut_start=42
[I 16:16:56.835] MC:l_battery_cut_end=40
[I 16:16:56.835] MC:l_slow_abs_current=1
[I 16:16:56.835] MC:l_temp_fet_start=60
[I 16:16:56.835] MC:l_temp_fet_end=70
[I 16:16:56.835] MC:l_temp_motor_start=60
[I 16:16:56.835] MC:l_temp_motor_end=70
[I 16:16:56.835] MC:l_temp_accel_dec=0.1
[I 16:16:56.835] MC:l_min_duty=0.005
[I 16:16:56.836] MC:l_max_duty=0.95
[I 16:16:56.836] MC:l_watt_max=15000
[I 16:16:56.836] MC:l_watt_min=-15000
[I 16:16:56.836] MC:sl_min_erpm=150
[I 16:16:56.836] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:16:56.836] MC:sl_max_fullbreak_current_dir_change=10
[I 16:16:56.836] MC:sl_cycle_int_limit=62
[I 16:16:56.836] MC:sl_phase_advance_at_br=0.8
[I 16:16:56.837] MC:sl_cycle_int_rpm_br=80000
[I 16:16:56.837] MC:sl_bemf_coupling_k=600
[I 16:16:56.837] MC:hall_table_0=255
[I 16:16:56.837] MC:hall_table_1=1
[I 16:16:56.837] MC:hall_table_2=3
[I 16:16:56.837] MC:hall_table_3=2
[I 16:16:56.837] MC:hall_table_4=5
[I 16:16:56.837] MC:hall_table_5=6
[I 16:16:56.837] MC:hall_table_6=4
[I 16:16:56.838] MC:hall_table_7=255
[I 16:16:56.838] MC:hall_sl_erpm=2000
[I 16:16:56.838] MC:foc_current_kp=0.005
[I 16:16:56.838] MC:foc_current_ki=13.65
[I 16:16:56.838] MC:foc_f_sw=20000
[I 16:16:56.838] MC:foc_dt_us=0.08
[I 16:16:56.838] MC:foc_encoder_inverted=0
[I 16:16:56.838] MC:foc_encoder_offset=180
[I 16:16:56.839] MC:foc_encoder_ratio=7
[I 16:16:56.839] MC:foc_sensor_mode=2
[I 16:16:56.839] MC:foc_pll_kp=2000
[I 16:16:56.839] MC:foc_pll_ki=40000
[I 16:16:56.839] MC:foc_motor_l=4.96e-06
[I 16:16:56.840] MC:foc_motor_r=0.0137
[I 16:16:56.840] MC:foc_motor_flux_linkage=0.004425
[I 16:16:56.840] MC:foc_observer_gain=5.107e+07
[I 16:16:56.840] MC:foc_observer_gain_slow=0.3
[I 16:16:56.840] MC:foc_duty_dowmramp_kp=10
[I 16:16:56.840] MC:foc_duty_dowmramp_ki=200
[I 16:16:56.841] MC:foc_openloop_rpm=400
[I 16:16:56.841] MC:foc_sl_openloop_hyst=0.1
[I 16:16:56.841] MC:foc_sl_openloop_time=0.1
[I 16:16:56.841] MC:foc_sl_d_current_duty=0
[I 16:16:56.841] MC:foc_sl_d_current_factor=0
[I 16:16:56.841] MC:foc_hall_table0=255
[I 16:16:56.841] MC:foc_hall_table1=52
[I 16:16:56.841] MC:foc_hall_table2=115
[I 16:16:56.842] MC:foc_hall_table3=82
[I 16:16:56.842] MC:foc_hall_table4=179
[I 16:16:56.842] MC:foc_hall_table5=15
[I 16:16:56.842] MC:foc_hall_table6=149
[I 16:16:56.842] MC:foc_hall_table7=255
[I 16:16:56.842] MC:foc_sl_erpm=2500
[I 16:16:56.842] MC:foc_sample_v0_v7=0
[I 16:16:56.842] MC:foc_sample_high_current=0
[I 16:16:56.842] MC:foc_sat_comp=0
[I 16:16:56.843] MC:foc_temp_comp=0
[I 16:16:56.843] MC:foc_temp_comp_base_temp=25
[I 16:16:56.843] MC:foc_current_filter_const=0.1
[I 16:16:56.843] MC:s_pid_kp=0.002
[I 16:16:56.843] MC:s_pid_ki=0.002
[I 16:16:56.843] MC:s_pid_kd=0
[I 16:16:56.843] MC:s_pid_kd_filter=0.2
[I 16:16:56.843] MC:s_pid_min_rpm=900
[I 16:16:56.843] MC:s_pid_allow_braking=1
[I 16:16:56.844] MC:p_pid_kp=0.03
[I 16:16:56.844] MC:p_pid_ki=0
[I 16:16:56.844] MC:p_pid_kd=0.0004
[I 16:16:56.844] MC:p_pid_kd_filter=0.2
[I 16:16:56.844] MC:p_pid_ang_div=1
[I 16:16:56.844] MC:cc_startup_boost_duty=0.01
[I 16:16:56.844] MC:cc_min_current=0.1
[I 16:16:56.844] MC:cc_gain=0.0046
[I 16:16:56.845] MC:cc_ramp_step_max=0.04
[I 16:16:56.845] MC:m_fault_stop_time_ms=500
[I 16:16:56.845] MC:m_duty_ramp_step=0.02
[I 16:16:56.845] MC:m_current_backoff_gain=0.5
[I 16:16:56.845] MC:m_encoder_counts=8192
[I 16:16:56.845] MC:m_sensor_port_mode=0
[I 16:16:56.845] MC:m_invert_direction=0
[I 16:16:56.845] MC:m_drv8301_oc_mode=0
[I 16:16:56.846] MC:m_drv8301_oc_adj=16
[I 16:16:56.846] MC:m_bldc_f_sw_min=3000
[I 16:16:56.846] MC:m_bldc_f_sw_max=40000
[I 16:16:56.846] MC:m_dc_f_sw=35000
[I 16:16:56.846] MC:m_ntc_motor_beta=3380
[I 16:16:57.397] Stopping configurations timer
[I 16:16:57.397] [confs] SET_MCCONF reply currentId=1
[I 16:16:57.398] Ask.appConfWrite()
[I 16:16:57.399] AC:controller_id=1
[I 16:16:57.399] AC:timeout_msec=1000
[I 16:16:57.399] AC:timeout_brake_current=0
[I 16:16:57.399] AC:send_can_status=1
[I 16:16:57.400] AC:send_can_status_rate_hz=200
[I 16:16:57.400] AC:can_baud_rate=2
[I 16:16:57.400] AC:app_to_use=3
[I 16:16:57.401] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:16:57.401] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:16:57.401] AC:app_ppm_conf_hyst=0.15
[I 16:16:57.402] AC:app_ppm_conf_pulse_start=1.145
[I 16:16:57.402] AC:app_ppm_conf_pulse_end=1.938
[I 16:16:57.402] AC:app_ppm_conf_pulse_center=1.538
[I 16:16:57.402] AC:app_ppm_conf_median_filter=1
[I 16:16:57.402] AC:app_ppm_conf_safe_start=1
[I 16:16:57.402] AC:app_ppm_conf_throttle_exp=0.5
[I 16:16:57.402] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:16:57.402] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:16:57.403] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:16:57.403] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:16:57.403] AC:app_ppm_conf_multi_esc=1
[I 16:16:57.403] AC:app_ppm_conf_tc=1
[I 16:16:57.403] AC:app_ppm_conf_tc_max_diff=5000
[I 16:16:57.404] AC:app_adc_conf_ctrl_type=0
[I 16:16:57.404] AC:app_adc_conf_hyst=0.15
[I 16:16:57.404] AC:app_adc_conf_voltage_start=0.9
[I 16:16:57.404] AC:app_adc_conf_voltage_end=3
[I 16:16:57.404] AC:app_adc_conf_voltage_center=2
[I 16:16:57.404] AC:app_adc_conf_voltage2_start=0.9
[I 16:16:57.404] AC:app_adc_conf_voltage2_end=3
[I 16:16:57.404] AC:app_adc_conf_use_filter=1
[I 16:16:57.405] AC:app_adc_conf_safe_start=1
[I 16:16:57.405] AC:app_adc_conf_cc_button_inverted=0
[I 16:16:57.405] AC:app_adc_conf_rev_button_inverted=0
[I 16:16:57.405] AC:app_adc_conf_voltage_inverted=0
[I 16:16:57.405] AC:app_adc_conf_voltage2_inverted=0
[I 16:16:57.405] AC:app_adc_conf_throttle_exp=0
[I 16:16:57.405] AC:app_adc_conf_throttle_exp_brake=0
[I 16:16:57.405] AC:app_adc_conf_throttle_exp_mode=3
[I 16:16:57.406] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:16:57.407] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:16:57.407] AC:app_adc_conf_multi_esc=0
[I 16:16:57.407] AC:app_adc_conf_tc=0
[I 16:16:57.407] AC:app_adc_conf_tc_max_diff=5000
[I 16:16:57.407] AC:app_adc_conf_update_rate_hz=500
[I 16:16:57.407] AC:app_uart_baudrate=9600
[I 16:16:57.407] AC:app_chuk_conf_ctrl_type=1
[I 16:16:57.408] AC:app_chuk_conf_hyst=0.15
[I 16:16:57.408] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:16:57.408] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:16:57.408] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:16:57.408] AC:app_chuk_conf_throttle_exp=0
[I 16:16:57.408] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:16:57.408] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:16:57.408] AC:app_chuk_conf_multi_esc=0
[I 16:16:57.409] AC:app_chuk_conf_tc=0
[I 16:16:57.409] AC:app_chuk_conf_tc_max_diff=5000
[I 16:16:57.409] AC:app_nrf_conf_speed=2
[I 16:16:57.409] AC:app_nrf_conf_power=3
[I 16:16:57.409] AC:app_nrf_conf_crc_type=1
[I 16:16:57.409] AC:app_nrf_conf_retry_delay=0
[I 16:16:57.409] AC:app_nrf_conf_retries=3
[I 16:16:57.410] AC:app_nrf_conf_channel=76
[I 16:16:57.410] AC:app_nrf_conf_address=13027072
[I 16:16:57.410] AC:app_nrf_conf_send_crc_ack=1
[I 16:16:57.410] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:16:57.410] AC:ack_app_ppm_conf_cruise_left=0
[I 16:16:57.410] AC:ack_app_ppm_conf_cruise_right=0
[I 16:16:57.410] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:16:57.410] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:16:57.410] AC:ack_app_adc_conf_tc_offset=3000
[I 16:16:57.410] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:16:57.410] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:16:57.849] Stopping configurations timer
[I 16:16:57.849] [confs] SET_APPCONF reply currentId=1
[I 16:16:57.850] [modes] Finishing apply, applied=true
[I 16:16:57.851] [mm] save()
[I 16:16:57.917] [ds] Saving settings for EC8A9C8C71CF
[I 16:16:57.917] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:16:57.917] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":false},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":true},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:16:57.917] void Settings::endGroup()
[I 16:17:04.945] [mw] openRealtime
[I 16:17:04.945] [modes] exit
[I 16:17:04.945] Ask.startRt()
[I 16:17:04.950] [rt] enter
[I 16:17:04.985] [mw] openRealtime
[I 16:19:45.459] [rt] exit
[I 16:19:45.467] [modes] enter
[I 16:19:45.467] Ask.stopRt()
[I 16:19:46.667] [modes] editing mode lipo legal
[I 16:19:50.149] [modes] Updating summary for 'lipo legal'
[I 16:19:52.468] createMotorConf FW 3.103
[I 16:19:52.469] [modes] Applying 'lipo'
[I 16:19:52.469] [confs] Initializing 2 configuration containers
[I 16:19:52.469] createMotorConf FW 3.103
[I 16:19:52.470] createMotorConf FW 3.103
[I 16:19:52.471] [confs] read()
[I 16:19:52.471] createMotorConf FW 3.103
[I 16:19:52.472] [confs] readMotorConfiguration
[I 16:19:52.472] Ask.motorConfGet()
[I 16:19:52.622] Stopping configurations timer
[I 16:19:52.622] [confs] GET_MCCONF reply currentId=0
[I 16:19:52.622] Ask.motorConfRead()
[I 16:19:52.622] [ask]: conf does not have signature
[I 16:19:52.622] MC:pwm_mode=1
[I 16:19:52.622] MC:comm_mode=0
[I 16:19:52.622] MC:motor_type=2
[I 16:19:52.622] MC:sensor_mode=2
[I 16:19:52.622] MC:l_current_max=55
[I 16:19:52.623] MC:l_current_min=-60
[I 16:19:52.623] MC:l_in_current_max=35
[I 16:19:52.623] MC:l_in_current_min=-7
[I 16:19:52.623] MC:l_abs_current_max=80
[I 16:19:52.623] MC:l_min_erpm=-60000
[I 16:19:52.623] MC:l_max_erpm=17825.4
[I 16:19:52.623] MC:l_erpm_start=0.8
[I 16:19:52.623] MC:l_max_erpm_fbrake=300
[I 16:19:52.623] MC:l_max_erpm_fbrake_cc=1500
[I 16:19:52.623] MC:l_min_vin=6
[I 16:19:52.623] MC:l_max_vin=57
[I 16:19:52.623] MC:l_battery_cut_start=42
[I 16:19:52.623] MC:l_battery_cut_end=40
[I 16:19:52.624] MC:l_slow_abs_current=1
[I 16:19:52.624] MC:l_temp_fet_start=60
[I 16:19:52.624] MC:l_temp_fet_end=70
[I 16:19:52.624] MC:l_temp_motor_start=60
[I 16:19:52.624] MC:l_temp_motor_end=70
[I 16:19:52.624] MC:l_temp_accel_dec=0.1
[I 16:19:52.624] MC:l_min_duty=0.005
[I 16:19:52.624] MC:l_max_duty=0.95
[I 16:19:52.624] MC:l_watt_max=15000
[I 16:19:52.624] MC:l_watt_min=-15000
[I 16:19:52.624] MC:sl_min_erpm=150
[I 16:19:52.624] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:19:52.624] MC:sl_max_fullbreak_current_dir_change=10
[I 16:19:52.624] MC:sl_cycle_int_limit=62
[I 16:19:52.624] MC:sl_phase_advance_at_br=0.8
[I 16:19:52.625] MC:sl_cycle_int_rpm_br=80000
[I 16:19:52.625] MC:sl_bemf_coupling_k=600
[I 16:19:52.625] MC:hall_table_0=255
[I 16:19:52.625] MC:hall_table_1=1
[I 16:19:52.625] MC:hall_table_2=3
[I 16:19:52.625] MC:hall_table_3=2
[I 16:19:52.625] MC:hall_table_4=5
[I 16:19:52.625] MC:hall_table_5=6
[I 16:19:52.625] MC:hall_table_6=4
[I 16:19:52.625] MC:hall_table_7=255
[I 16:19:52.625] MC:hall_sl_erpm=2000
[I 16:19:52.625] MC:foc_current_kp=0.0044
[I 16:19:52.625] MC:foc_current_ki=13.95
[I 16:19:52.625] MC:foc_f_sw=20000
[I 16:19:52.625] MC:foc_dt_us=0.08
[I 16:19:52.625] MC:foc_encoder_inverted=0
[I 16:19:52.625] MC:foc_encoder_offset=180
[I 16:19:52.625] MC:foc_encoder_ratio=7
[I 16:19:52.626] MC:foc_sensor_mode=2
[I 16:19:52.626] MC:foc_pll_kp=2000
[I 16:19:52.626] MC:foc_pll_ki=40000
[I 16:19:52.626] MC:foc_motor_l=4.37e-06
[I 16:19:52.627] MC:foc_motor_r=0.0139
[I 16:19:52.627] MC:foc_motor_flux_linkage=0.004444
[I 16:19:52.627] MC:foc_observer_gain=5.064e+07
[I 16:19:52.627] MC:foc_observer_gain_slow=0.3
[I 16:19:52.627] MC:foc_duty_dowmramp_kp=10
[I 16:19:52.627] MC:foc_duty_dowmramp_ki=200
[I 16:19:52.627] MC:foc_openloop_rpm=400
[I 16:19:52.627] MC:foc_sl_openloop_hyst=0.1
[I 16:19:52.627] MC:foc_sl_openloop_time=0.1
[I 16:19:52.627] MC:foc_sl_d_current_duty=0
[I 16:19:52.627] MC:foc_sl_d_current_factor=0
[I 16:19:52.627] MC:foc_hall_table0=255
[I 16:19:52.627] MC:foc_hall_table1=86
[I 16:19:52.627] MC:foc_hall_table2=17
[I 16:19:52.627] MC:foc_hall_table3=56
[I 16:19:52.627] MC:foc_hall_table4=155
[I 16:19:52.627] MC:foc_hall_table5=119
[I 16:19:52.627] MC:foc_hall_table6=183
[I 16:19:52.628] MC:foc_hall_table7=255
[I 16:19:52.628] MC:foc_sl_erpm=2500
[I 16:19:52.628] MC:foc_sample_v0_v7=0
[I 16:19:52.628] MC:foc_sample_high_current=0
[I 16:19:52.628] MC:foc_sat_comp=0
[I 16:19:52.628] MC:foc_temp_comp=0
[I 16:19:52.628] MC:foc_temp_comp_base_temp=25
[I 16:19:52.628] MC:foc_current_filter_const=0.1
[I 16:19:52.628] MC:s_pid_kp=0.002
[I 16:19:52.628] MC:s_pid_ki=0.002
[I 16:19:52.628] MC:s_pid_kd=0
[I 16:19:52.628] MC:s_pid_kd_filter=0.2
[I 16:19:52.628] MC:s_pid_min_rpm=900
[I 16:19:52.628] MC:s_pid_allow_braking=1
[I 16:19:52.628] MC:p_pid_kp=0.03
[I 16:19:52.628] MC:p_pid_ki=0
[I 16:19:52.629] MC:p_pid_kd=0.0004
[I 16:19:52.629] MC:p_pid_kd_filter=0.2
[I 16:19:52.629] MC:p_pid_ang_div=1
[I 16:19:52.629] MC:cc_startup_boost_duty=0.01
[I 16:19:52.629] MC:cc_min_current=0.1
[I 16:19:52.629] MC:cc_gain=0.0046
[I 16:19:52.629] MC:cc_ramp_step_max=0.04
[I 16:19:52.629] MC:m_fault_stop_time_ms=500
[I 16:19:52.629] MC:m_duty_ramp_step=0.02
[I 16:19:52.629] MC:m_current_backoff_gain=0.5
[I 16:19:52.629] MC:m_encoder_counts=8192
[I 16:19:52.629] MC:m_sensor_port_mode=0
[I 16:19:52.629] MC:m_invert_direction=0
[I 16:19:52.629] MC:m_drv8301_oc_mode=0
[I 16:19:52.629] MC:m_drv8301_oc_adj=16
[I 16:19:52.630] MC:m_bldc_f_sw_min=3000
[I 16:19:52.630] MC:m_bldc_f_sw_max=40000
[I 16:19:52.630] MC:m_dc_f_sw=35000
[I 16:19:52.630] MC:m_ntc_motor_beta=3380
[I 16:19:52.630] [confs] readAppConfiguration
[I 16:19:52.630] Ask.appConfGet()
[I 16:19:52.683] Stopping configurations timer
[I 16:19:52.683] [confs] GET_APPCONF reply currentId=0
[I 16:19:52.683] Ask.appConfRead()
[I 16:19:52.683] [ask]: conf does not have signature
[I 16:19:52.683] AC:controller_id=0
[I 16:19:52.683] AC:timeout_msec=1000
[I 16:19:52.683] AC:timeout_brake_current=0
[I 16:19:52.683] AC:send_can_status=1
[I 16:19:52.684] AC:send_can_status_rate_hz=200
[I 16:19:52.684] AC:can_baud_rate=2
[I 16:19:52.684] AC:app_to_use=4
[I 16:19:52.684] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:19:52.684] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:19:52.684] AC:app_ppm_conf_hyst=0.15
[I 16:19:52.684] AC:app_ppm_conf_pulse_start=1.145
[I 16:19:52.684] AC:app_ppm_conf_pulse_end=1.938
[I 16:19:52.684] AC:app_ppm_conf_pulse_center=1.538
[I 16:19:52.684] AC:app_ppm_conf_median_filter=1
[I 16:19:52.684] AC:app_ppm_conf_safe_start=1
[I 16:19:52.684] AC:app_ppm_conf_throttle_exp=0.85
[I 16:19:52.684] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:19:52.684] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:19:52.684] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:19:52.684] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:19:52.684] AC:app_ppm_conf_multi_esc=1
[I 16:19:52.684] AC:app_ppm_conf_tc=1
[I 16:19:52.684] AC:app_ppm_conf_tc_max_diff=5000
[I 16:19:52.685] AC:app_adc_conf_ctrl_type=0
[I 16:19:52.685] AC:app_adc_conf_hyst=0.15
[I 16:19:52.685] AC:app_adc_conf_voltage_start=0.9
[I 16:19:52.685] AC:app_adc_conf_voltage_end=3
[I 16:19:52.685] AC:app_adc_conf_voltage_center=2
[I 16:19:52.685] AC:app_adc_conf_voltage2_start=0.9
[I 16:19:52.685] AC:app_adc_conf_voltage2_end=3
[I 16:19:52.685] AC:app_adc_conf_use_filter=1
[I 16:19:52.685] AC:app_adc_conf_safe_start=1
[I 16:19:52.685] AC:app_adc_conf_cc_button_inverted=0
[I 16:19:52.685] AC:app_adc_conf_rev_button_inverted=0
[I 16:19:52.685] AC:app_adc_conf_voltage_inverted=0
[I 16:19:52.685] AC:app_adc_conf_voltage2_inverted=0
[I 16:19:52.685] AC:app_adc_conf_throttle_exp=0
[I 16:19:52.685] AC:app_adc_conf_throttle_exp_brake=0
[I 16:19:52.685] AC:app_adc_conf_throttle_exp_mode=3
[I 16:19:52.685] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:19:52.685] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:19:52.685] AC:app_adc_conf_multi_esc=0
[I 16:19:52.685] AC:app_adc_conf_tc=0
[I 16:19:52.685] AC:app_adc_conf_tc_max_diff=5000
[I 16:19:52.686] AC:app_adc_conf_update_rate_hz=500
[I 16:19:52.686] AC:app_uart_baudrate=115200
[I 16:19:52.686] AC:app_chuk_conf_ctrl_type=1
[I 16:19:52.686] AC:app_chuk_conf_hyst=0.15
[I 16:19:52.686] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:19:52.686] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:19:52.686] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:19:52.686] AC:app_chuk_conf_throttle_exp=0
[I 16:19:52.686] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:19:52.686] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:19:52.686] AC:app_chuk_conf_multi_esc=0
[I 16:19:52.686] AC:app_chuk_conf_tc=0
[I 16:19:52.686] AC:app_chuk_conf_tc_max_diff=5000
[I 16:19:52.686] AC:app_nrf_conf_speed=2
[I 16:19:52.686] AC:app_nrf_conf_power=3
[I 16:19:52.686] AC:app_nrf_conf_crc_type=1
[I 16:19:52.686] AC:app_nrf_conf_retry_delay=0
[I 16:19:52.686] AC:app_nrf_conf_retries=3
[I 16:19:52.686] AC:app_nrf_conf_channel=76
[I 16:19:52.686] AC:app_nrf_conf_address=13027072
[I 16:19:52.687] AC:app_nrf_conf_send_crc_ack=1
[I 16:19:52.687] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:19:52.687] AC:ack_app_ppm_conf_cruise_left=0
[I 16:19:52.687] AC:ack_app_ppm_conf_cruise_right=0
[I 16:19:52.687] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:19:52.687] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:19:52.687] AC:ack_app_adc_conf_tc_offset=3000
[I 16:19:52.687] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:19:52.687] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:19:52.687] [confs] readMotorConfiguration
[I 16:19:52.687] Ask.motorConfGet()
[I 16:19:52.831] Stopping configurations timer
[I 16:19:52.832] [confs] GET_MCCONF reply currentId=1
[I 16:19:52.832] Ask.motorConfRead()
[I 16:19:52.832] [ask]: conf does not have signature
[I 16:19:52.832] MC:pwm_mode=1
[I 16:19:52.832] MC:comm_mode=0
[I 16:19:52.832] MC:motor_type=2
[I 16:19:52.832] MC:sensor_mode=2
[I 16:19:52.832] MC:l_current_max=55
[I 16:19:52.832] MC:l_current_min=-60
[I 16:19:52.832] MC:l_in_current_max=35
[I 16:19:52.832] MC:l_in_current_min=-7
[I 16:19:52.832] MC:l_abs_current_max=80
[I 16:19:52.833] MC:l_min_erpm=-60000
[I 16:19:52.833] MC:l_max_erpm=17825.4
[I 16:19:52.833] MC:l_erpm_start=0.8
[I 16:19:52.833] MC:l_max_erpm_fbrake=300
[I 16:19:52.833] MC:l_max_erpm_fbrake_cc=1500
[I 16:19:52.833] MC:l_min_vin=6
[I 16:19:52.833] MC:l_max_vin=57
[I 16:19:52.833] MC:l_battery_cut_start=42
[I 16:19:52.833] MC:l_battery_cut_end=40
[I 16:19:52.833] MC:l_slow_abs_current=1
[I 16:19:52.833] MC:l_temp_fet_start=60
[I 16:19:52.833] MC:l_temp_fet_end=70
[I 16:19:52.833] MC:l_temp_motor_start=60
[I 16:19:52.833] MC:l_temp_motor_end=70
[I 16:19:52.833] MC:l_temp_accel_dec=0.1
[I 16:19:52.834] MC:l_min_duty=0.005
[I 16:19:52.834] MC:l_max_duty=0.95
[I 16:19:52.834] MC:l_watt_max=15000
[I 16:19:52.834] MC:l_watt_min=-15000
[I 16:19:52.834] MC:sl_min_erpm=150
[I 16:19:52.834] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:19:52.834] MC:sl_max_fullbreak_current_dir_change=10
[I 16:19:52.834] MC:sl_cycle_int_limit=62
[I 16:19:52.834] MC:sl_phase_advance_at_br=0.8
[I 16:19:52.834] MC:sl_cycle_int_rpm_br=80000
[I 16:19:52.834] MC:sl_bemf_coupling_k=600
[I 16:19:52.834] MC:hall_table_0=255
[I 16:19:52.834] MC:hall_table_1=1
[I 16:19:52.834] MC:hall_table_2=3
[I 16:19:52.835] MC:hall_table_3=2
[I 16:19:52.835] MC:hall_table_4=5
[I 16:19:52.835] MC:hall_table_5=6
[I 16:19:52.835] MC:hall_table_6=4
[I 16:19:52.835] MC:hall_table_7=255
[I 16:19:52.835] MC:hall_sl_erpm=2000
[I 16:19:52.835] MC:foc_current_kp=0.005
[I 16:19:52.835] MC:foc_current_ki=13.65
[I 16:19:52.835] MC:foc_f_sw=20000
[I 16:19:52.835] MC:foc_dt_us=0.08
[I 16:19:52.835] MC:foc_encoder_inverted=0
[I 16:19:52.835] MC:foc_encoder_offset=180
[I 16:19:52.835] MC:foc_encoder_ratio=7
[I 16:19:52.835] MC:foc_sensor_mode=2
[I 16:19:52.835] MC:foc_pll_kp=2000
[I 16:19:52.836] MC:foc_pll_ki=40000
[I 16:19:52.836] MC:foc_motor_l=4.96e-06
[I 16:19:52.836] MC:foc_motor_r=0.0137
[I 16:19:52.836] MC:foc_motor_flux_linkage=0.004425
[I 16:19:52.836] MC:foc_observer_gain=5.107e+07
[I 16:19:52.836] MC:foc_observer_gain_slow=0.3
[I 16:19:52.836] MC:foc_duty_dowmramp_kp=10
[I 16:19:52.836] MC:foc_duty_dowmramp_ki=200
[I 16:19:52.836] MC:foc_openloop_rpm=400
[I 16:19:52.836] MC:foc_sl_openloop_hyst=0.1
[I 16:19:52.836] MC:foc_sl_openloop_time=0.1
[I 16:19:52.836] MC:foc_sl_d_current_duty=0
[I 16:19:52.836] MC:foc_sl_d_current_factor=0
[I 16:19:52.836] MC:foc_hall_table0=255
[I 16:19:52.837] MC:foc_hall_table1=52
[I 16:19:52.837] MC:foc_hall_table2=115
[I 16:19:52.837] MC:foc_hall_table3=82
[I 16:19:52.837] MC:foc_hall_table4=179
[I 16:19:52.837] MC:foc_hall_table5=15
[I 16:19:52.837] MC:foc_hall_table6=149
[I 16:19:52.837] MC:foc_hall_table7=255
[I 16:19:52.837] MC:foc_sl_erpm=2500
[I 16:19:52.837] MC:foc_sample_v0_v7=0
[I 16:19:52.837] MC:foc_sample_high_current=0
[I 16:19:52.837] MC:foc_sat_comp=0
[I 16:19:52.837] MC:foc_temp_comp=0
[I 16:19:52.837] MC:foc_temp_comp_base_temp=25
[I 16:19:52.837] MC:foc_current_filter_const=0.1
[I 16:19:52.838] MC:s_pid_kp=0.002
[I 16:19:52.838] MC:s_pid_ki=0.002
[I 16:19:52.838] MC:s_pid_kd=0
[I 16:19:52.838] MC:s_pid_kd_filter=0.2
[I 16:19:52.838] MC:s_pid_min_rpm=900
[I 16:19:52.838] MC:s_pid_allow_braking=1
[I 16:19:52.838] MC:p_pid_kp=0.03
[I 16:19:52.838] MC:p_pid_ki=0
[I 16:19:52.838] MC:p_pid_kd=0.0004
[I 16:19:52.838] MC:p_pid_kd_filter=0.2
[I 16:19:52.838] MC:p_pid_ang_div=1
[I 16:19:52.839] MC:cc_startup_boost_duty=0.01
[I 16:19:52.839] MC:cc_min_current=0.1
[I 16:19:52.839] MC:cc_gain=0.0046
[I 16:19:52.839] MC:cc_ramp_step_max=0.04
[I 16:19:52.839] MC:m_fault_stop_time_ms=500
[I 16:19:52.839] MC:m_duty_ramp_step=0.02
[I 16:19:52.839] MC:m_current_backoff_gain=0.5
[I 16:19:52.839] MC:m_encoder_counts=8192
[I 16:19:52.839] MC:m_sensor_port_mode=0
[I 16:19:52.839] MC:m_invert_direction=0
[I 16:19:52.839] MC:m_drv8301_oc_mode=0
[I 16:19:52.839] MC:m_drv8301_oc_adj=16
[I 16:19:52.839] MC:m_bldc_f_sw_min=3000
[I 16:19:52.839] MC:m_bldc_f_sw_max=40000
[I 16:19:52.839] MC:m_dc_f_sw=35000
[I 16:19:52.840] MC:m_ntc_motor_beta=3380
[I 16:19:52.841] [confs] readAppConfiguration
[I 16:19:52.841] Ask.appConfGet()
[I 16:19:52.899] Stopping configurations timer
[I 16:19:52.899] [confs] GET_APPCONF reply currentId=1
[I 16:19:52.899] Ask.appConfRead()
[I 16:19:52.899] [ask]: conf does not have signature
[I 16:19:52.899] AC:controller_id=1
[I 16:19:52.899] AC:timeout_msec=1000
[I 16:19:52.900] AC:timeout_brake_current=0
[I 16:19:52.900] AC:send_can_status=1
[I 16:19:52.900] AC:send_can_status_rate_hz=200
[I 16:19:52.900] AC:can_baud_rate=2
[I 16:19:52.900] AC:app_to_use=3
[I 16:19:52.900] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:19:52.900] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:19:52.900] AC:app_ppm_conf_hyst=0.15
[I 16:19:52.901] AC:app_ppm_conf_pulse_start=1.145
[I 16:19:52.901] AC:app_ppm_conf_pulse_end=1.938
[I 16:19:52.901] AC:app_ppm_conf_pulse_center=1.538
[I 16:19:52.901] AC:app_ppm_conf_median_filter=1
[I 16:19:52.901] AC:app_ppm_conf_safe_start=1
[I 16:19:52.901] AC:app_ppm_conf_throttle_exp=0.5
[I 16:19:52.901] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:19:52.901] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:19:52.901] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:19:52.901] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:19:52.902] AC:app_ppm_conf_multi_esc=1
[I 16:19:52.902] AC:app_ppm_conf_tc=1
[I 16:19:52.902] AC:app_ppm_conf_tc_max_diff=5000
[I 16:19:52.902] AC:app_adc_conf_ctrl_type=0
[I 16:19:52.902] AC:app_adc_conf_hyst=0.15
[I 16:19:52.902] AC:app_adc_conf_voltage_start=0.9
[I 16:19:52.902] AC:app_adc_conf_voltage_end=3
[I 16:19:52.902] AC:app_adc_conf_voltage_center=2
[I 16:19:52.902] AC:app_adc_conf_voltage2_start=0.9
[I 16:19:52.902] AC:app_adc_conf_voltage2_end=3
[I 16:19:52.903] AC:app_adc_conf_use_filter=1
[I 16:19:52.903] AC:app_adc_conf_safe_start=1
[I 16:19:52.903] AC:app_adc_conf_cc_button_inverted=0
[I 16:19:52.903] AC:app_adc_conf_rev_button_inverted=0
[I 16:19:52.903] AC:app_adc_conf_voltage_inverted=0
[I 16:19:52.903] AC:app_adc_conf_voltage2_inverted=0
[I 16:19:52.903] AC:app_adc_conf_throttle_exp=0
[I 16:19:52.903] AC:app_adc_conf_throttle_exp_brake=0
[I 16:19:52.903] AC:app_adc_conf_throttle_exp_mode=3
[I 16:19:52.904] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:19:52.904] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:19:52.904] AC:app_adc_conf_multi_esc=0
[I 16:19:52.904] AC:app_adc_conf_tc=0
[I 16:19:52.904] AC:app_adc_conf_tc_max_diff=5000
[I 16:19:52.904] AC:app_adc_conf_update_rate_hz=500
[I 16:19:52.904] AC:app_uart_baudrate=9600
[I 16:19:52.905] AC:app_chuk_conf_ctrl_type=1
[I 16:19:52.905] AC:app_chuk_conf_hyst=0.15
[I 16:19:52.905] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:19:52.905] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:19:52.905] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:19:52.905] AC:app_chuk_conf_throttle_exp=0
[I 16:19:52.905] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:19:52.905] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:19:52.905] AC:app_chuk_conf_multi_esc=0
[I 16:19:52.905] AC:app_chuk_conf_tc=0
[I 16:19:52.905] AC:app_chuk_conf_tc_max_diff=5000
[I 16:19:52.906] AC:app_nrf_conf_speed=2
[I 16:19:52.906] AC:app_nrf_conf_power=3
[I 16:19:52.906] AC:app_nrf_conf_crc_type=1
[I 16:19:52.906] AC:app_nrf_conf_retry_delay=0
[I 16:19:52.906] AC:app_nrf_conf_retries=3
[I 16:19:52.906] AC:app_nrf_conf_channel=76
[I 16:19:52.906] AC:app_nrf_conf_address=13027072
[I 16:19:52.906] AC:app_nrf_conf_send_crc_ack=1
[I 16:19:52.906] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:19:52.906] AC:ack_app_ppm_conf_cruise_left=0
[I 16:19:52.907] AC:ack_app_ppm_conf_cruise_right=0
[I 16:19:52.907] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:19:52.907] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:19:52.907] AC:ack_app_adc_conf_tc_offset=3000
[I 16:19:52.907] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:19:52.907] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:19:52.908] [modes] modifying 2 confs
[I 16:19:52.908] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 16:19:52.908] [modes] Apply conf:l_current_max=70
[I 16:19:52.909] [modes] Apply conf:l_current_min=-70
[I 16:19:52.910] [modes] Apply conf:l_in_current_max=35
[I 16:19:52.910] [modes] Apply conf:l_in_current_min=-7
[I 16:19:52.911] [modes] Apply conf:l_temp_fet_start=85
[I 16:19:52.911] [modes] Apply conf:l_temp_fet_end=100
[I 16:19:52.911] [modes] Apply conf:l_temp_motor_start=85
[I 16:19:52.911] [modes] Apply conf:l_temp_motor_end=100
[I 16:19:52.911] [modes] Apply conf:l_abs_current_max=130
[I 16:19:52.911] [modes] Apply conf:l_min_vin=6
[I 16:19:52.911] [modes] Apply conf:l_max_vin=57
[I 16:19:52.911] [modes] Apply conf:l_battery_cut_start=42
[I 16:19:52.911] [modes] Apply conf:l_battery_cut_end=40
[I 16:19:52.912] [modes] Apply conf:l_max_erpm=49019.76387752697
[I 16:19:52.912] [modes] Apply conf:l_current_max=70
[I 16:19:52.912] [modes] Apply conf:l_current_min=-70
[I 16:19:52.912] [modes] Apply conf:l_in_current_max=35
[I 16:19:52.912] [modes] Apply conf:l_in_current_min=-7
[I 16:19:52.913] [modes] Apply conf:l_temp_fet_start=85
[I 16:19:52.913] [modes] Apply conf:l_temp_fet_end=100
[I 16:19:52.913] [modes] Apply conf:l_temp_motor_start=85
[I 16:19:52.913] [modes] Apply conf:l_temp_motor_end=100
[I 16:19:52.913] [modes] Apply conf:l_abs_current_max=130
[I 16:19:52.913] [modes] Apply conf:l_min_vin=6
[I 16:19:52.913] [modes] Apply conf:l_max_vin=57
[I 16:19:52.913] [modes] Apply conf:l_battery_cut_start=42
[I 16:19:52.913] [modes] Apply conf:l_battery_cut_end=40
[I 16:19:52.914] [confs] write()
[I 16:19:52.914] [confs] writeMotorConfiguration
[I 16:19:52.914] Ask.motorConfWrite()
[I 16:19:52.914] MC:pwm_mode=1
[I 16:19:52.915] MC:comm_mode=0
[I 16:19:52.915] MC:motor_type=2
[I 16:19:52.915] MC:sensor_mode=2
[I 16:19:52.915] MC:l_current_max=70
[I 16:19:52.915] MC:l_current_min=-70
[I 16:19:52.915] MC:l_in_current_max=35
[I 16:19:52.915] MC:l_in_current_min=-7
[I 16:19:52.915] MC:l_abs_current_max=130
[I 16:19:52.915] MC:l_min_erpm=-60000
[I 16:19:52.915] MC:l_max_erpm=49019.76387752697
[I 16:19:52.915] MC:l_erpm_start=0.8
[I 16:19:52.915] MC:l_max_erpm_fbrake=300
[I 16:19:52.915] MC:l_max_erpm_fbrake_cc=1500
[I 16:19:52.915] MC:l_min_vin=6
[I 16:19:52.915] MC:l_max_vin=57
[I 16:19:52.915] MC:l_battery_cut_start=42
[I 16:19:52.915] MC:l_battery_cut_end=40
[I 16:19:52.915] MC:l_slow_abs_current=1
[I 16:19:52.915] MC:l_temp_fet_start=85
[I 16:19:52.915] MC:l_temp_fet_end=100
[I 16:19:52.915] MC:l_temp_motor_start=85
[I 16:19:52.915] MC:l_temp_motor_end=100
[I 16:19:52.915] MC:l_temp_accel_dec=0.1
[I 16:19:52.915] MC:l_min_duty=0.005
[I 16:19:52.915] MC:l_max_duty=0.95
[I 16:19:52.915] MC:l_watt_max=15000
[I 16:19:52.915] MC:l_watt_min=-15000
[I 16:19:52.915] MC:sl_min_erpm=150
[I 16:19:52.915] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:19:52.915] MC:sl_max_fullbreak_current_dir_change=10
[I 16:19:52.915] MC:sl_cycle_int_limit=62
[I 16:19:52.915] MC:sl_phase_advance_at_br=0.8
[I 16:19:52.915] MC:sl_cycle_int_rpm_br=80000
[I 16:19:52.915] MC:sl_bemf_coupling_k=600
[I 16:19:52.915] MC:hall_table_0=255
[I 16:19:52.915] MC:hall_table_1=1
[I 16:19:52.915] MC:hall_table_2=3
[I 16:19:52.915] MC:hall_table_3=2
[I 16:19:52.915] MC:hall_table_4=5
[I 16:19:52.915] MC:hall_table_5=6
[I 16:19:52.915] MC:hall_table_6=4
[I 16:19:52.915] MC:hall_table_7=255
[I 16:19:52.915] MC:hall_sl_erpm=2000
[I 16:19:52.915] MC:foc_current_kp=0.0044
[I 16:19:52.915] MC:foc_current_ki=13.95
[I 16:19:52.915] MC:foc_f_sw=20000
[I 16:19:52.915] MC:foc_dt_us=0.08
[I 16:19:52.915] MC:foc_encoder_inverted=0
[I 16:19:52.915] MC:foc_encoder_offset=180
[I 16:19:52.915] MC:foc_encoder_ratio=7
[I 16:19:52.915] MC:foc_sensor_mode=2
[I 16:19:52.915] MC:foc_pll_kp=2000
[I 16:19:52.915] MC:foc_pll_ki=40000
[I 16:19:52.915] MC:foc_motor_l=4.37e-06
[I 16:19:52.915] MC:foc_motor_r=0.0139
[I 16:19:52.915] MC:foc_motor_flux_linkage=0.004444
[I 16:19:52.915] MC:foc_observer_gain=5.064e+07
[I 16:19:52.915] MC:foc_observer_gain_slow=0.3
[I 16:19:52.915] MC:foc_duty_dowmramp_kp=10
[I 16:19:52.915] MC:foc_duty_dowmramp_ki=200
[I 16:19:52.915] MC:foc_openloop_rpm=400
[I 16:19:52.915] MC:foc_sl_openloop_hyst=0.1
[I 16:19:52.915] MC:foc_sl_openloop_time=0.1
[I 16:19:52.915] MC:foc_sl_d_current_duty=0
[I 16:19:52.915] MC:foc_sl_d_current_factor=0
[I 16:19:52.915] MC:foc_hall_table0=255
[I 16:19:52.915] MC:foc_hall_table1=86
[I 16:19:52.915] MC:foc_hall_table2=17
[I 16:19:52.915] MC:foc_hall_table3=56
[I 16:19:52.915] MC:foc_hall_table4=155
[I 16:19:52.915] MC:foc_hall_table5=119
[I 16:19:52.915] MC:foc_hall_table6=183
[I 16:19:52.915] MC:foc_hall_table7=255
[I 16:19:52.915] MC:foc_sl_erpm=2500
[I 16:19:52.915] MC:foc_sample_v0_v7=0
[I 16:19:52.915] MC:foc_sample_high_current=0
[I 16:19:52.915] MC:foc_sat_comp=0
[I 16:19:52.915] MC:foc_temp_comp=0
[I 16:19:52.915] MC:foc_temp_comp_base_temp=25
[I 16:19:52.916] MC:foc_current_filter_const=0.1
[I 16:19:52.916] MC:s_pid_kp=0.002
[I 16:19:52.916] MC:s_pid_ki=0.002
[I 16:19:52.916] MC:s_pid_kd=0
[I 16:19:52.916] MC:s_pid_kd_filter=0.2
[I 16:19:52.916] MC:s_pid_min_rpm=900
[I 16:19:52.916] MC:s_pid_allow_braking=1
[I 16:19:52.916] MC:p_pid_kp=0.03
[I 16:19:52.916] MC:p_pid_ki=0
[I 16:19:52.916] MC:p_pid_kd=0.0004
[I 16:19:52.916] MC:p_pid_kd_filter=0.2
[I 16:19:52.916] MC:p_pid_ang_div=1
[I 16:19:52.916] MC:cc_startup_boost_duty=0.01
[I 16:19:52.916] MC:cc_min_current=0.1
[I 16:19:52.916] MC:cc_gain=0.0046
[I 16:19:52.916] MC:cc_ramp_step_max=0.04
[I 16:19:52.916] MC:m_fault_stop_time_ms=500
[I 16:19:52.916] MC:m_duty_ramp_step=0.02
[I 16:19:52.916] MC:m_current_backoff_gain=0.5
[I 16:19:52.916] MC:m_encoder_counts=8192
[I 16:19:52.916] MC:m_sensor_port_mode=0
[I 16:19:52.916] MC:m_invert_direction=0
[I 16:19:52.916] MC:m_drv8301_oc_mode=0
[I 16:19:52.916] MC:m_drv8301_oc_adj=16
[I 16:19:52.916] MC:m_bldc_f_sw_min=3000
[I 16:19:52.916] MC:m_bldc_f_sw_max=40000
[I 16:19:52.916] MC:m_dc_f_sw=35000
[I 16:19:52.916] MC:m_ntc_motor_beta=3380
[I 16:19:53.432] Stopping configurations timer
[I 16:19:53.432] [confs] SET_MCCONF reply currentId=0
[I 16:19:53.433] Ask.appConfWrite()
[I 16:19:53.434] AC:controller_id=0
[I 16:19:53.434] AC:timeout_msec=1000
[I 16:19:53.434] AC:timeout_brake_current=0
[I 16:19:53.434] AC:send_can_status=1
[I 16:19:53.434] AC:send_can_status_rate_hz=200
[I 16:19:53.434] AC:can_baud_rate=2
[I 16:19:53.434] AC:app_to_use=4
[I 16:19:53.434] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:19:53.435] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:19:53.435] AC:app_ppm_conf_hyst=0.15
[I 16:19:53.435] AC:app_ppm_conf_pulse_start=1.145
[I 16:19:53.435] AC:app_ppm_conf_pulse_end=1.938
[I 16:19:53.435] AC:app_ppm_conf_pulse_center=1.538
[I 16:19:53.435] AC:app_ppm_conf_median_filter=1
[I 16:19:53.435] AC:app_ppm_conf_safe_start=1
[I 16:19:53.435] AC:app_ppm_conf_throttle_exp=0.85
[I 16:19:53.436] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 16:19:53.436] AC:app_ppm_conf_throttle_exp_mode=0
[I 16:19:53.436] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:19:53.436] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:19:53.436] AC:app_ppm_conf_multi_esc=1
[I 16:19:53.436] AC:app_ppm_conf_tc=1
[I 16:19:53.436] AC:app_ppm_conf_tc_max_diff=5000
[I 16:19:53.436] AC:app_adc_conf_ctrl_type=0
[I 16:19:53.437] AC:app_adc_conf_hyst=0.15
[I 16:19:53.437] AC:app_adc_conf_voltage_start=0.9
[I 16:19:53.437] AC:app_adc_conf_voltage_end=3
[I 16:19:53.437] AC:app_adc_conf_voltage_center=2
[I 16:19:53.437] AC:app_adc_conf_voltage2_start=0.9
[I 16:19:53.437] AC:app_adc_conf_voltage2_end=3
[I 16:19:53.437] AC:app_adc_conf_use_filter=1
[I 16:19:53.437] AC:app_adc_conf_safe_start=1
[I 16:19:53.437] AC:app_adc_conf_cc_button_inverted=0
[I 16:19:53.438] AC:app_adc_conf_rev_button_inverted=0
[I 16:19:53.438] AC:app_adc_conf_voltage_inverted=0
[I 16:19:53.438] AC:app_adc_conf_voltage2_inverted=0
[I 16:19:53.438] AC:app_adc_conf_throttle_exp=0
[I 16:19:53.438] AC:app_adc_conf_throttle_exp_brake=0
[I 16:19:53.438] AC:app_adc_conf_throttle_exp_mode=3
[I 16:19:53.438] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:19:53.438] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:19:53.439] AC:app_adc_conf_multi_esc=0
[I 16:19:53.439] AC:app_adc_conf_tc=0
[I 16:19:53.439] AC:app_adc_conf_tc_max_diff=5000
[I 16:19:53.439] AC:app_adc_conf_update_rate_hz=500
[I 16:19:53.439] AC:app_uart_baudrate=115200
[I 16:19:53.439] AC:app_chuk_conf_ctrl_type=1
[I 16:19:53.439] AC:app_chuk_conf_hyst=0.15
[I 16:19:53.439] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:19:53.439] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:19:53.440] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:19:53.440] AC:app_chuk_conf_throttle_exp=0
[I 16:19:53.440] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:19:53.440] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:19:53.440] AC:app_chuk_conf_multi_esc=0
[I 16:19:53.441] AC:app_chuk_conf_tc=0
[I 16:19:53.441] AC:app_chuk_conf_tc_max_diff=5000
[I 16:19:53.441] AC:app_nrf_conf_speed=2
[I 16:19:53.441] AC:app_nrf_conf_power=3
[I 16:19:53.441] AC:app_nrf_conf_crc_type=1
[I 16:19:53.441] AC:app_nrf_conf_retry_delay=0
[I 16:19:53.441] AC:app_nrf_conf_retries=3
[I 16:19:53.441] AC:app_nrf_conf_channel=76
[I 16:19:53.441] AC:app_nrf_conf_address=13027072
[I 16:19:53.442] AC:app_nrf_conf_send_crc_ack=1
[I 16:19:53.442] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:19:53.442] AC:ack_app_ppm_conf_cruise_left=0
[I 16:19:53.442] AC:ack_app_ppm_conf_cruise_right=0
[I 16:19:53.442] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:19:53.442] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:19:53.442] AC:ack_app_adc_conf_tc_offset=3000
[I 16:19:53.442] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:19:53.442] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:19:53.852] Stopping configurations timer
[I 16:19:53.852] [confs] SET_APPCONF reply currentId=0
[I 16:19:53.852] [confs] writeMotorConfiguration
[I 16:19:53.853] Ask.motorConfWrite()
[I 16:19:53.853] MC:pwm_mode=1
[I 16:19:53.853] MC:comm_mode=0
[I 16:19:53.853] MC:motor_type=2
[I 16:19:53.853] MC:sensor_mode=2
[I 16:19:53.853] MC:l_current_max=70
[I 16:19:53.853] MC:l_current_min=-70
[I 16:19:53.853] MC:l_in_current_max=35
[I 16:19:53.853] MC:l_in_current_min=-7
[I 16:19:53.853] MC:l_abs_current_max=130
[I 16:19:53.854] MC:l_min_erpm=-60000
[I 16:19:53.854] MC:l_max_erpm=49019.76387752697
[I 16:19:53.854] MC:l_erpm_start=0.8
[I 16:19:53.854] MC:l_max_erpm_fbrake=300
[I 16:19:53.854] MC:l_max_erpm_fbrake_cc=1500
[I 16:19:53.854] MC:l_min_vin=6
[I 16:19:53.854] MC:l_max_vin=57
[I 16:19:53.854] MC:l_battery_cut_start=42
[I 16:19:53.854] MC:l_battery_cut_end=40
[I 16:19:53.855] MC:l_slow_abs_current=1
[I 16:19:53.855] MC:l_temp_fet_start=85
[I 16:19:53.855] MC:l_temp_fet_end=100
[I 16:19:53.855] MC:l_temp_motor_start=85
[I 16:19:53.855] MC:l_temp_motor_end=100
[I 16:19:53.855] MC:l_temp_accel_dec=0.1
[I 16:19:53.855] MC:l_min_duty=0.005
[I 16:19:53.855] MC:l_max_duty=0.95
[I 16:19:53.855] MC:l_watt_max=15000
[I 16:19:53.855] MC:l_watt_min=-15000
[I 16:19:53.855] MC:sl_min_erpm=150
[I 16:19:53.855] MC:sl_min_erpm_cycle_int_limit=1100
[I 16:19:53.855] MC:sl_max_fullbreak_current_dir_change=10
[I 16:19:53.855] MC:sl_cycle_int_limit=62
[I 16:19:53.856] MC:sl_phase_advance_at_br=0.8
[I 16:19:53.856] MC:sl_cycle_int_rpm_br=80000
[I 16:19:53.856] MC:sl_bemf_coupling_k=600
[I 16:19:53.856] MC:hall_table_0=255
[I 16:19:53.856] MC:hall_table_1=1
[I 16:19:53.856] MC:hall_table_2=3
[I 16:19:53.884] MC:hall_table_3=2
[I 16:19:53.884] MC:hall_table_4=5
[I 16:19:53.884] MC:hall_table_5=6
[I 16:19:53.884] MC:hall_table_6=4
[I 16:19:53.884] MC:hall_table_7=255
[I 16:19:53.884] MC:hall_sl_erpm=2000
[I 16:19:53.884] MC:foc_current_kp=0.005
[I 16:19:53.884] MC:foc_current_ki=13.65
[I 16:19:53.884] MC:foc_f_sw=20000
[I 16:19:53.884] MC:foc_dt_us=0.08
[I 16:19:53.884] MC:foc_encoder_inverted=0
[I 16:19:53.884] MC:foc_encoder_offset=180
[I 16:19:53.884] MC:foc_encoder_ratio=7
[I 16:19:53.884] MC:foc_sensor_mode=2
[I 16:19:53.884] MC:foc_pll_kp=2000
[I 16:19:53.884] MC:foc_pll_ki=40000
[I 16:19:53.884] MC:foc_motor_l=4.96e-06
[I 16:19:53.884] MC:foc_motor_r=0.0137
[I 16:19:53.884] MC:foc_motor_flux_linkage=0.004425
[I 16:19:53.884] MC:foc_observer_gain=5.107e+07
[I 16:19:53.884] MC:foc_observer_gain_slow=0.3
[I 16:19:53.884] MC:foc_duty_dowmramp_kp=10
[I 16:19:53.884] MC:foc_duty_dowmramp_ki=200
[I 16:19:53.884] MC:foc_openloop_rpm=400
[I 16:19:53.884] MC:foc_sl_openloop_hyst=0.1
[I 16:19:53.884] MC:foc_sl_openloop_time=0.1
[I 16:19:53.884] MC:foc_sl_d_current_duty=0
[I 16:19:53.884] MC:foc_sl_d_current_factor=0
[I 16:19:53.884] MC:foc_hall_table0=255
[I 16:19:53.884] MC:foc_hall_table1=52
[I 16:19:53.884] MC:foc_hall_table2=115
[I 16:19:53.884] MC:foc_hall_table3=82
[I 16:19:53.884] MC:foc_hall_table4=179
[I 16:19:53.884] MC:foc_hall_table5=15
[I 16:19:53.884] MC:foc_hall_table6=149
[I 16:19:53.884] MC:foc_hall_table7=255
[I 16:19:53.884] MC:foc_sl_erpm=2500
[I 16:19:53.884] MC:foc_sample_v0_v7=0
[I 16:19:53.884] MC:foc_sample_high_current=0
[I 16:19:53.884] MC:foc_sat_comp=0
[I 16:19:53.884] MC:foc_temp_comp=0
[I 16:19:53.884] MC:foc_temp_comp_base_temp=25
[I 16:19:53.884] MC:foc_current_filter_const=0.1
[I 16:19:53.884] MC:s_pid_kp=0.002
[I 16:19:53.884] MC:s_pid_ki=0.002
[I 16:19:53.884] MC:s_pid_kd=0
[I 16:19:53.884] MC:s_pid_kd_filter=0.2
[I 16:19:53.884] MC:s_pid_min_rpm=900
[I 16:19:53.884] MC:s_pid_allow_braking=1
[I 16:19:53.884] MC:p_pid_kp=0.03
[I 16:19:53.884] MC:p_pid_ki=0
[I 16:19:53.884] MC:p_pid_kd=0.0004
[I 16:19:53.884] MC:p_pid_kd_filter=0.2
[I 16:19:53.884] MC:p_pid_ang_div=1
[I 16:19:53.884] MC:cc_startup_boost_duty=0.01
[I 16:19:53.884] MC:cc_min_current=0.1
[I 16:19:53.884] MC:cc_gain=0.0046
[I 16:19:53.884] MC:cc_ramp_step_max=0.04
[I 16:19:53.884] MC:m_fault_stop_time_ms=500
[I 16:19:53.884] MC:m_duty_ramp_step=0.02
[I 16:19:53.884] MC:m_current_backoff_gain=0.5
[I 16:19:53.884] MC:m_encoder_counts=8192
[I 16:19:53.884] MC:m_sensor_port_mode=0
[I 16:19:53.884] MC:m_invert_direction=0
[I 16:19:53.884] MC:m_drv8301_oc_mode=0
[I 16:19:53.885] MC:m_drv8301_oc_adj=16
[I 16:19:53.885] MC:m_bldc_f_sw_min=3000
[I 16:19:53.885] MC:m_bldc_f_sw_max=40000
[I 16:19:53.885] MC:m_dc_f_sw=35000
[I 16:19:53.885] MC:m_ntc_motor_beta=3380
[I 16:19:54.420] Stopping configurations timer
[I 16:19:54.420] [confs] SET_MCCONF reply currentId=1
[I 16:19:54.421] Ask.appConfWrite()
[I 16:19:54.421] AC:controller_id=1
[I 16:19:54.421] AC:timeout_msec=1000
[I 16:19:54.421] AC:timeout_brake_current=0
[I 16:19:54.421] AC:send_can_status=1
[I 16:19:54.421] AC:send_can_status_rate_hz=200
[I 16:19:54.421] AC:can_baud_rate=2
[I 16:19:54.421] AC:app_to_use=3
[I 16:19:54.422] AC:ack_app_ppm_conf_ctrl_type=3
[I 16:19:54.422] AC:app_ppm_conf_pid_max_erpm=15000
[I 16:19:54.422] AC:app_ppm_conf_hyst=0.15
[I 16:19:54.422] AC:app_ppm_conf_pulse_start=1.145
[I 16:19:54.422] AC:app_ppm_conf_pulse_end=1.938
[I 16:19:54.422] AC:app_ppm_conf_pulse_center=1.538
[I 16:19:54.422] AC:app_ppm_conf_median_filter=1
[I 16:19:54.422] AC:app_ppm_conf_safe_start=1
[I 16:19:54.422] AC:app_ppm_conf_throttle_exp=0.5
[I 16:19:54.422] AC:app_ppm_conf_throttle_exp_brake=-1
[I 16:19:54.422] AC:app_ppm_conf_throttle_exp_mode=1
[I 16:19:54.422] AC:app_ppm_conf_ramp_time_pos=0.3
[I 16:19:54.422] AC:app_ppm_conf_ramp_time_neg=0.1
[I 16:19:54.422] AC:app_ppm_conf_multi_esc=1
[I 16:19:54.422] AC:app_ppm_conf_tc=1
[I 16:19:54.422] AC:app_ppm_conf_tc_max_diff=5000
[I 16:19:54.422] AC:app_adc_conf_ctrl_type=0
[I 16:19:54.422] AC:app_adc_conf_hyst=0.15
[I 16:19:54.422] AC:app_adc_conf_voltage_start=0.9
[I 16:19:54.422] AC:app_adc_conf_voltage_end=3
[I 16:19:54.423] AC:app_adc_conf_voltage_center=2
[I 16:19:54.423] AC:app_adc_conf_voltage2_start=0.9
[I 16:19:54.423] AC:app_adc_conf_voltage2_end=3
[I 16:19:54.423] AC:app_adc_conf_use_filter=1
[I 16:19:54.423] AC:app_adc_conf_safe_start=1
[I 16:19:54.423] AC:app_adc_conf_cc_button_inverted=0
[I 16:19:54.423] AC:app_adc_conf_rev_button_inverted=0
[I 16:19:54.423] AC:app_adc_conf_voltage_inverted=0
[I 16:19:54.423] AC:app_adc_conf_voltage2_inverted=0
[I 16:19:54.423] AC:app_adc_conf_throttle_exp=0
[I 16:19:54.423] AC:app_adc_conf_throttle_exp_brake=0
[I 16:19:54.423] AC:app_adc_conf_throttle_exp_mode=3
[I 16:19:54.423] AC:app_adc_conf_ramp_time_pos=0.3
[I 16:19:54.423] AC:app_adc_conf_ramp_time_neg=0.1
[I 16:19:54.423] AC:app_adc_conf_multi_esc=0
[I 16:19:54.423] AC:app_adc_conf_tc=0
[I 16:19:54.423] AC:app_adc_conf_tc_max_diff=5000
[I 16:19:54.423] AC:app_adc_conf_update_rate_hz=500
[I 16:19:54.423] AC:app_uart_baudrate=9600
[I 16:19:54.423] AC:app_chuk_conf_ctrl_type=1
[I 16:19:54.424] AC:app_chuk_conf_hyst=0.15
[I 16:19:54.424] AC:app_chuk_conf_ramp_time_pos=0.3
[I 16:19:54.424] AC:app_chuk_conf_ramp_time_neg=0.1
[I 16:19:54.424] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 16:19:54.424] AC:app_chuk_conf_throttle_exp=0
[I 16:19:54.424] AC:app_chuk_conf_throttle_exp_brake=0
[I 16:19:54.424] AC:app_chuk_conf_throttle_exp_mode=3
[I 16:19:54.424] AC:app_chuk_conf_multi_esc=0
[I 16:19:54.424] AC:app_chuk_conf_tc=0
[I 16:19:54.424] AC:app_chuk_conf_tc_max_diff=5000
[I 16:19:54.424] AC:app_nrf_conf_speed=2
[I 16:19:54.424] AC:app_nrf_conf_power=3
[I 16:19:54.424] AC:app_nrf_conf_crc_type=1
[I 16:19:54.424] AC:app_nrf_conf_retry_delay=0
[I 16:19:54.424] AC:app_nrf_conf_retries=3
[I 16:19:54.424] AC:app_nrf_conf_channel=76
[I 16:19:54.425] AC:app_nrf_conf_address=13027072
[I 16:19:54.425] AC:app_nrf_conf_send_crc_ack=1
[I 16:19:54.425] AC:ack_app_ppm_conf_tc_offset=3000
[I 16:19:54.425] AC:ack_app_ppm_conf_cruise_left=0
[I 16:19:54.425] AC:ack_app_ppm_conf_cruise_right=0
[I 16:19:54.425] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 16:19:54.425] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 16:19:54.425] AC:ack_app_adc_conf_tc_offset=3000
[I 16:19:54.425] AC:ack_app_chuk_conf_tc_offset=3000
[I 16:19:54.425] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 16:19:54.870] Stopping configurations timer
[I 16:19:54.871] [confs] SET_APPCONF reply currentId=1
[I 16:19:54.871] [modes] Finishing apply, applied=true
[I 16:19:54.872] [mm] save()
[I 16:19:54.892] [ds] Saving settings for EC8A9C8C71CF
[I 16:19:54.892] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:19:54.892] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:19:54.892] void Settings::endGroup()
[I 16:19:57.680] [mw] openRealtime
[I 16:19:57.680] [modes] exit
[I 16:19:57.680] Ask.startRt()
[I 16:19:57.685] [rt] enter
[I 16:19:57.707] [mw] openRealtime
[E 16:19:57.723] Tacho increase '15968' too big
[E 16:24:27.653] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 16:24:27.653] virtual void bluetooth::MetrPro::reset()
[I 16:24:27.655] virtual void bluetooth::Device::reset()
[I 16:24:27.655] virtual void bluetooth::Device::disjoin()
[I 16:24:27.655] disjoin: disconnectFromDevice
[I 16:24:27.655] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:24:27.655] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:24:27.662] Device went offline, saving stats
[I 16:24:27.662] Saving stats: stats.EC8A9C8C71CF
[I 16:24:27.662] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 16:24:27.662] setValue: key=totalDistance, value=616947.2687885746
[I 16:24:27.662] setValue: key=totalWh, value=9379.343099999178
[I 16:24:27.662] setValue: key=totalTime, value=93030587
[I 16:24:27.662] setValue: key=topSpeed, value=50
[I 16:24:27.662] setValue: key=averageSpeed, value=20.54527243044032
[I 16:24:27.662] setValue: key=averageSpeedSec, value=107950.90000005595
[I 16:24:27.662] void Settings::endGroup()
[I 16:24:27.662] Device went offline, saving stats
[I 16:24:27.662] Saving stats: today.stats.EC8A9C8C71CF
[I 16:24:27.662] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 16:24:27.662] setValue: key=today, value=1584196747088
[I 16:24:27.662] setValue: key=totalDistance, value=11296.294326081921
[I 16:24:27.662] setValue: key=totalWh, value=168.6814
[I 16:24:27.662] setValue: key=totalTime, value=2014688
[I 16:24:27.662] setValue: key=topSpeed, value=36.99110025357144
[I 16:24:27.662] setValue: key=averageSpeed, value=21.42506561258048
[I 16:24:27.662] setValue: key=averageSpeedSec, value=5766.900000002036
[I 16:24:27.662] void Settings::endGroup()
[I 16:24:27.663] Global.device went offline
[I 16:24:27.663] onDetectMultipleFinishedChanged false
[I 16:24:27.663] [si] allVESCsLen: 0
[I 16:24:27.664] onFwMajorChanged=0
[I 16:24:27.664] Destroying detector
[I 16:24:27.664] notification: Bluetooth disconnected
[I 16:24:27.665] systemNotification: Bluetooth disconnected
[I 16:24:27.668] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:24:27.668] void bluetooth::Device::init()
[I 16:24:27.698] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:24:27.699] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:24:27.699] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:24:27.699] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:24:27.699] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:24:27.699] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:24:28.661] Trying to reconnect...
[I 16:24:28.661] virtual void bluetooth::Device::join()
[I 16:24:28.828] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 16:24:30.067] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 16:24:30.068] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 16:24:30.068] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:24:30.068] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:24:30.069] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:24:30.072] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:24:30.072] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 16:24:30.072] void bluetooth::Device::onDiscoveryFinished()
[I 16:24:30.104] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:24:30.104] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:24:30.104] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:24:30.105] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:24:30.165] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:24:30.165] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:24:30.166] void bluetooth::MetrPro::checkFound()
[I 16:24:30.166] void bluetooth::Device::listen()
[I 16:24:30.346] onDescriptorWritten: value=0100(2)
[I 16:24:30.353] Global.device went online
[I 16:24:30.354] Creating Pro detector
[I 16:24:30.358] random: data=82462f08ddbd030f47b9a1e9f7402ea68d73f5db274e104849330ec5bc4cae9c(32)
[I 16:24:30.359] Ask.metrProVersion()
[I 16:24:30.364] [dtctr.pro] Component.onCompleted
[I 16:24:30.394] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 16:24:30.395] [NRF_LOG]  bootloader: 0x00078000
[I 16:24:30.395] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 16:24:30.396] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 16:24:30.396] [NRF_LOG] <info> app: LL V9.183
[I 16:24:30.483] [NRF_LOG] <info> app: Advertising started
[I 16:24:30.484] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 16:24:30.485] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 16:24:30.486] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 16:24:30.486] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 16:24:30.487] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 16:24:30.489] [NRF_LOG] <info> app: detected CAN 1
[I 16:24:30.489] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 16:24:30.490] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 16:24:30.491] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 16:24:30.491] [NRF_LOG] <info> app: Connected
[I 16:24:30.491] [NRF_LOG] <info> app: Advertising stopped
[I 16:24:30.492] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:24:30.573] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:24:30.574] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:24:30.574] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:24:30.574] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 16:24:30.575] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 16:24:30.576] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:24:30.576] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 16:24:30.576] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:24:30.576] [ds] Activating settings for EC8A9C8C71CF
[I 16:24:30.580] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Setting 'downloaded' not applicable
[I 16:24:30.585] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 16:24:30.585] [ds] Setting 'modes' not applicable
[I 16:24:30.586] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 16:24:30.586] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 16:24:30.586] isNewerVersion available=4.8, installed=4.19
[I 16:24:30.588] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 16:24:30.588] Ask.readOnly() val=undefined
[I 16:24:30.592] Ask.cert()
[I 16:24:30.615] [dtctr.pro] packet METR_READONLY reply:0
[I 16:24:30.711] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 16:24:30.754] verifyCert: verified=1
[I 16:24:30.754] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 16:24:30.758] [ds] Saving settings for EC8A9C8C71CF
[I 16:24:30.758] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:24:30.758] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:24:30.759] void Settings::endGroup()
[I 16:24:30.759] Ask.auth()
[I 16:24:30.981] verifySignature: data=82462f08ddbd030f47b9a1e9f7402ea68d73f5db274e104849330ec5bc4cae9c(32), signature=4f5d18e76731e36cbcbb95054ac136a93b56196e642070ca7d469f1da8e54d317e2985dd6fc0ef694e59ac391d96f7177f3b9abe0bd9bcb88ac2db21178ce639(64)
[I 16:24:31.018] verifySignature: verified=1
[I 16:24:31.019] Ask.secure()
[I 16:24:31.158] [dtctr.pro] BLE secured
[I 16:24:31.159] Ask.version()
[I 16:24:31.164] [NRF_LOG] <info> app: connection already secured
[I 16:24:31.248] onFwMajorChanged=3
[I 16:24:31.250] [dtctr.pro] VESC FW3.103 HW410
[I 16:24:31.251] Ask.count()
[I 16:24:31.339] [si] allVESCsLen: 1
[I 16:24:31.341] VESC CAN ID 1
[I 16:24:31.341] VESC count 2
[I 16:24:31.341] onDetectMultipleFinishedChanged true
[I 16:24:31.341] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 16:24:31.342] Ask.version()
[I 16:24:31.346] Ask.startRt()
[E 16:24:31.448] Tacho increase '14716' too big
[I 16:24:34.262] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 16:25:30.248] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 16:25:30.249] virtual void bluetooth::MetrPro::reset()
[I 16:25:30.249] virtual void bluetooth::Device::reset()
[I 16:25:30.249] virtual void bluetooth::Device::disjoin()
[I 16:25:30.249] disjoin: disconnectFromDevice
[I 16:25:30.249] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:25:30.249] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:25:30.250] Device went offline, saving stats
[I 16:25:30.250] Saving stats: stats.EC8A9C8C71CF
[I 16:25:30.250] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 16:25:30.250] setValue: key=totalDistance, value=617157.1787370768
[I 16:25:30.250] setValue: key=totalWh, value=9382.021599999161
[I 16:25:30.250] setValue: key=totalTime, value=93093190
[I 16:25:30.250] setValue: key=topSpeed, value=50
[I 16:25:30.250] setValue: key=averageSpeed, value=20.531248112275357
[I 16:25:30.251] setValue: key=averageSpeedSec, value=108112.90000005752
[I 16:25:30.251] void Settings::endGroup()
[I 16:25:30.251] Device went offline, saving stats
[I 16:25:30.251] Saving stats: today.stats.EC8A9C8C71CF
[I 16:25:30.251] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 16:25:30.251] setValue: key=today, value=1584196747088
[I 16:25:30.251] setValue: key=totalDistance, value=11506.20427458397
[I 16:25:30.251] setValue: key=totalWh, value=171.35989999999998
[I 16:25:30.251] setValue: key=totalTime, value=2077291
[I 16:25:30.251] setValue: key=topSpeed, value=36.99110025357144
[I 16:25:30.251] setValue: key=averageSpeed, value=21.145294288588556
[I 16:25:30.251] setValue: key=averageSpeedSec, value=5928.900000002134
[I 16:25:30.251] void Settings::endGroup()
[I 16:25:30.252] Global.device went offline
[I 16:25:30.252] onDetectMultipleFinishedChanged false
[I 16:25:30.254] [si] allVESCsLen: 0
[I 16:25:30.256] onFwMajorChanged=0
[I 16:25:30.256] Destroying detector
[I 16:25:30.256] notification: Bluetooth disconnected
[I 16:25:30.256] systemNotification: Bluetooth disconnected
[I 16:25:30.261] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:25:30.261] void bluetooth::Device::init()
[I 16:25:30.277] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:25:30.277] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:25:30.277] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:25:30.277] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:25:30.277] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:25:30.277] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:25:31.238] Trying to reconnect...
[I 16:25:31.239] virtual void bluetooth::Device::join()
[I 16:25:31.870] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 16:25:33.089] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 16:25:33.089] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 16:25:33.089] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:25:33.089] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:25:33.089] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:25:33.091] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:25:33.091] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 16:25:33.091] void bluetooth::Device::onDiscoveryFinished()
[I 16:25:33.125] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:25:33.125] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:25:33.126] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:25:33.126] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:25:33.141] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:25:33.141] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:25:33.142] void bluetooth::MetrPro::checkFound()
[I 16:25:33.142] void bluetooth::Device::listen()
[I 16:25:33.165] onDescriptorWritten: value=0100(2)
[I 16:25:33.166] Global.device went online
[I 16:25:33.166] Creating Pro detector
[I 16:25:33.167] random: data=a6b0aebf7fdbfb7c37fdbbb2e4b5d446749fd50361915ae37e2be432db074613(32)
[I 16:25:33.168] Ask.metrProVersion()
[I 16:25:33.171] [dtctr.pro] Component.onCompleted
[I 16:25:33.214] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 16:25:33.214] [NRF_LOG]  bootloader: 0x00078000
[I 16:25:33.215] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 16:25:33.215] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 16:25:33.216] [NRF_LOG] <info> app: LL V9.183
[I 16:25:33.258] [NRF_LOG] <info> app: Advertising started
[I 16:25:33.260] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 16:25:33.261] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 16:25:33.261] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 16:25:33.262] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 16:25:33.263] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 16:25:33.349] [NRF_LOG] <info> app: detected CAN 1
[I 16:25:33.350] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 16:25:33.351] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 16:25:33.352] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 16:25:33.353] [NRF_LOG] <info> app: Connected
[I 16:25:33.354] [NRF_LOG] <info> app: Advertising stopped
[I 16:25:33.354] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:25:33.436] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:25:33.437] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:25:33.437] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:25:33.437] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 16:25:33.438] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 16:25:33.438] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:25:33.438] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 16:25:33.439] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x24, max=0x24.
[I 16:25:33.439] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:25:33.481] [ds] Activating settings for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 16:25:33.481] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Setting 'downloaded' not applicable
[I 16:25:33.482] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Setting 'modes' not applicable
[I 16:25:33.482] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 16:25:33.482] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 16:25:33.482] isNewerVersion available=4.8, installed=4.19
[I 16:25:33.482] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 16:25:33.482] Ask.readOnly() val=undefined
[I 16:25:33.485] Ask.cert()
[I 16:25:33.485] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:25:33.527] [dtctr.pro] packet METR_READONLY reply:0
[I 16:25:33.618] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 16:25:33.657] verifyCert: verified=1
[I 16:25:33.657] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 16:25:33.659] [ds] Saving settings for EC8A9C8C71CF
[I 16:25:33.660] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:25:33.660] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:25:33.660] void Settings::endGroup()
[I 16:25:33.661] Ask.auth()
[I 16:25:33.887] verifySignature: data=a6b0aebf7fdbfb7c37fdbbb2e4b5d446749fd50361915ae37e2be432db074613(32), signature=2667eeda9acd17d8307974b0aac0e7c6119860b10f1a3382dc2c6cd629eb1a2d0dc0894bae4f089fa64900f91fdbd14315be6df82e265d4e004ca7823ce9b7d1(64)
[I 16:25:33.910] verifySignature: verified=1
[I 16:25:33.911] Ask.secure()
[I 16:25:33.975] [dtctr.pro] BLE secured
[I 16:25:33.975] Ask.version()
[I 16:25:33.978] [NRF_LOG] <info> app: connection already secured
[I 16:25:34.065] onFwMajorChanged=3
[I 16:25:34.066] [dtctr.pro] VESC FW3.103 HW410
[I 16:25:34.066] Ask.count()
[I 16:25:34.212] [si] allVESCsLen: 1
[I 16:25:34.213] VESC CAN ID 1
[I 16:25:34.213] VESC count 2
[I 16:25:34.213] onDetectMultipleFinishedChanged true
[I 16:25:34.213] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 16:25:34.213] Ask.version()
[I 16:25:34.215] Ask.startRt()
[E 16:25:34.320] Tacho increase '12941' too big
[I 16:25:37.323] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 16:27:05.433] Speed abnormal '-0.166055'
[E 16:27:05.702] Speed abnormal '-0.280499'
[E 16:27:21.214] Speed abnormal '-0.226643'
[E 16:27:21.403] Speed abnormal '-0.510508'
[E 16:27:21.490] Speed abnormal '-0.637294'
[E 16:27:21.605] Speed abnormal '-0.455531'
[E 16:27:22.776] Speed abnormal '-0.559876'
[E 16:27:22.927] Speed abnormal '-1.36435'
[E 16:27:22.956] Speed abnormal '-1.91637'
[E 16:27:23.105] Speed abnormal '-2.15423'
[E 16:27:23.174] Speed abnormal '-2.04091'
[E 16:27:23.317] Speed abnormal '-1.55397'
[E 16:27:23.375] Speed abnormal '-1.13209'
[E 16:27:23.465] Speed abnormal '-0.563242'
[E 16:27:25.025] Speed abnormal '-0.350063'
[E 16:27:25.147] Speed abnormal '-0.563242'
[E 16:27:25.266] Speed abnormal '-0.716956'
[E 16:28:24.251] Speed abnormal '-0.164933'
[E 16:28:24.742] Speed abnormal '-0.292841'
[E 16:31:01.813] Speed abnormal '-0.427481'
[E 16:31:01.925] Speed abnormal '-0.637294'
[E 16:31:02.015] Speed abnormal '-0.767446'
[E 16:31:02.109] Speed abnormal '-0.546412'
[E 16:31:02.411] Speed abnormal '-0.311915'
[E 16:31:02.895] Speed abnormal '-0.001122'
[E 16:31:03.518] Speed abnormal '-0.649636'
[E 16:31:03.584] Speed abnormal '-0.70798'
[E 16:31:03.675] Speed abnormal '-0.307427'
[E 16:31:05.348] Speed abnormal '-0.305183'
[E 16:31:05.444] Speed abnormal '-0.521728'
[E 16:31:05.539] Speed abnormal '-0.811203'
[E 16:31:05.647] Speed abnormal '-1.29927'
[E 16:31:05.748] Speed abnormal '-1.43616'
[E 16:31:05.833] Speed abnormal '-1.45299'
[E 16:31:05.943] Speed abnormal '-2.11609'
[E 16:31:06.038] Speed abnormal '-2.10599'
[E 16:31:06.133] Speed abnormal '-1.89505'
[E 16:31:06.223] Speed abnormal '-1.43952'
[E 16:31:06.334] Speed abnormal '-0.914427'
[E 16:31:06.430] Speed abnormal '-0.544168'
[E 16:31:07.302] Speed abnormal '-0.869547'
[E 16:31:07.415] Speed abnormal '-1.26561'
[E 16:31:07.510] Speed abnormal '-1.65046'
[E 16:31:07.607] Speed abnormal '-1.51582'
[E 16:31:07.741] Speed abnormal '-1.22634'
[E 16:31:07.801] Speed abnormal '-0.740518'
[E 16:31:07.899] Speed abnormal '-0.389333'
[E 16:31:08.084] Speed abnormal '-0.589048'
[E 16:31:08.238] Speed abnormal '-1.15902'
[E 16:31:08.285] Speed abnormal '-1.91749'
[E 16:31:08.444] Speed abnormal '-2.59854'
[E 16:31:08.498] Speed abnormal '-3.10569'
[E 16:31:08.589] Speed abnormal '-2.67035'
[E 16:31:08.757] Speed abnormal '-2.48073'
[E 16:31:08.770] Speed abnormal '-1.9893'
[E 16:31:08.885] Speed abnormal '-1.75144'
[E 16:31:08.981] Speed abnormal '-1.43503'
[E 16:31:09.069] Speed abnormal '-1.07599'
[E 16:31:09.164] Speed abnormal '-0.820179'
[E 16:31:09.280] Speed abnormal '-0.540802'
[E 16:31:15.157] Speed abnormal '-0.538558'
[E 16:31:15.255] Speed abnormal '-0.801105'
[E 16:31:15.339] Speed abnormal '-0.733786'
[E 16:31:15.454] Speed abnormal '-0.621586'
[E 16:31:15.546] Speed abnormal '-0.474604'
[E 16:31:22.802] Speed abnormal '-0.188495'
[E 16:31:23.205] Speed abnormal '-0.0370259'
[E 16:31:25.834] Speed abnormal '-0.549778'
[E 16:31:25.923] Speed abnormal '-0.594658'
[E 16:31:26.046] Speed abnormal '-0.420749'
[E 16:31:56.923] Speed abnormal '-0.530704'
[E 16:31:57.316] Speed abnormal '-0.667588'
[E 16:31:57.659] Speed abnormal '-0.376991'
[E 16:31:57.696] Speed abnormal '-0.788763'
[E 16:31:57.866] Speed abnormal '-0.557632'
[E 16:31:57.908] Speed abnormal '-0.765202'
[E 16:31:57.995] Speed abnormal '-0.369137'
[E 16:31:58.099] Speed abnormal '-0.338843'
[E 16:31:58.211] Speed abnormal '-0.525094'
[E 16:31:58.292] Speed abnormal '-0.631684'
[E 16:31:58.395] Speed abnormal '-0.467873'
[E 16:36:49.083] Speed abnormal '-0.572218'
[E 16:36:49.202] Speed abnormal '-1.40811'
[E 16:36:49.295] Speed abnormal '-0.887499'
[E 16:36:49.381] Speed abnormal '-0.581194'
[E 16:36:49.482] Speed abnormal '-0.433091'
[E 16:36:52.247] Speed abnormal '-0.503776'
[E 16:36:52.367] Speed abnormal '-0.902085'
[E 16:36:52.421] Speed abnormal '-1.34752'
[E 16:36:52.533] Speed abnormal '-1.61567'
[E 16:36:52.635] Speed abnormal '-1.81876'
[E 16:36:52.745] Speed abnormal '-1.56182'
[E 16:36:52.836] Speed abnormal '-1.30039'
[E 16:36:52.935] Speed abnormal '-0.967161'
[E 16:36:53.016] Speed abnormal '-0.716956'
[E 16:36:54.582] Speed abnormal '-0.253571'
[E 16:42:06.067] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 16:42:06.071] virtual void bluetooth::MetrPro::reset()
[I 16:42:06.071] virtual void bluetooth::Device::reset()
[I 16:42:06.071] virtual void bluetooth::Device::disjoin()
[I 16:42:06.071] disjoin: disconnectFromDevice
[I 16:42:06.071] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:42:06.071] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:42:06.071] Device went offline, saving stats
[I 16:42:06.071] Saving stats: stats.EC8A9C8C71CF
[I 16:42:06.072] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 16:42:06.072] setValue: key=totalDistance, value=620412.8508406157
[I 16:42:06.072] setValue: key=totalWh, value=9426.457499999036
[I 16:42:06.072] setValue: key=totalTime, value=93768362
[I 16:42:06.072] setValue: key=topSpeed, value=50
[I 16:42:06.072] setValue: key=averageSpeed, value=20.48089245911894
[I 16:42:06.072] setValue: key=averageSpeedSec, value=110104.00000007683
[I 16:42:06.072] void Settings::endGroup()
[I 16:42:06.072] Device went offline, saving stats
[I 16:42:06.072] Saving stats: today.stats.EC8A9C8C71CF
[I 16:42:06.073] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 16:42:06.073] setValue: key=today, value=1584196747088
[I 16:42:06.073] setValue: key=totalDistance, value=14761.876378115154
[I 16:42:06.073] setValue: key=totalWh, value=215.79579999999999
[I 16:42:06.073] setValue: key=totalTime, value=2752463
[I 16:42:06.074] setValue: key=topSpeed, value=36.99110025357144
[I 16:42:06.074] setValue: key=averageSpeed, value=20.290876842069917
[I 16:42:06.074] setValue: key=averageSpeedSec, value=7920.0000000033415
[I 16:42:06.074] void Settings::endGroup()
[I 16:42:06.074] Global.device went offline
[I 16:42:06.075] onDetectMultipleFinishedChanged false
[I 16:42:06.076] [si] allVESCsLen: 0
[I 16:42:06.091] onFwMajorChanged=0
[I 16:42:06.091] Destroying detector
[I 16:42:06.091] notification: Bluetooth disconnected
[I 16:42:06.091] systemNotification: Bluetooth disconnected
[I 16:42:06.095] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:42:06.095] void bluetooth::Device::init()
[I 16:42:06.131] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:42:06.131] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:42:06.131] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:42:06.131] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:42:06.131] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:42:06.131] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:42:07.093] Trying to reconnect...
[I 16:42:07.093] virtual void bluetooth::Device::join()
[I 16:42:07.680] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 16:42:08.907] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 16:42:08.907] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 16:42:08.907] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:42:08.907] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:42:08.907] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:42:08.910] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:42:08.910] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 16:42:08.911] void bluetooth::Device::onDiscoveryFinished()
[I 16:42:08.938] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:42:08.938] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:42:08.939] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:42:08.939] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:42:08.962] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:42:08.962] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:42:08.963] void bluetooth::MetrPro::checkFound()
[I 16:42:08.963] void bluetooth::Device::listen()
[I 16:42:09.195] onDescriptorWritten: value=0100(2)
[I 16:42:09.195] Global.device went online
[I 16:42:09.197] Creating Pro detector
[I 16:42:09.199] random: data=2274a722b41cb68c4fdcf8229033c7cf7b58bda3a7e8a3a3b190e5aa060fd900(32)
[I 16:42:09.204] Ask.metrProVersion()
[I 16:42:09.211] [dtctr.pro] Component.onCompleted
[I 16:42:09.213] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 16:42:09.213] [NRF_LOG]  bootloader: 0x00078000
[I 16:42:09.214] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 16:42:09.214] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 16:42:09.214] [NRF_LOG] <info> app: LL V9.183
[I 16:42:09.241] [NRF_LOG] <info> app: Advertising started
[I 16:42:09.241] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 16:42:09.242] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 16:42:09.242] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 16:42:09.242] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 16:42:09.242] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 16:42:09.288] [NRF_LOG] <info> app: detected CAN 1
[I 16:42:09.288] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 16:42:09.288] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 16:42:09.289] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 16:42:09.289] [NRF_LOG] <info> app: Connected
[I 16:42:09.289] [NRF_LOG] <info> app: Advertising stopped
[I 16:42:09.289] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:42:09.385] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:42:09.386] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:42:09.387] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:42:09.388] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 16:42:09.422] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 16:42:09.423] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:42:09.424] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 16:42:09.424] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:42:09.426] [ds] Activating settings for EC8A9C8C71CF
[I 16:42:09.426] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 16:42:09.426] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 16:42:09.427] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 16:42:09.428] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 16:42:09.428] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 16:42:09.428] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 16:42:09.428] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 16:42:09.428] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 16:42:09.429] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 16:42:09.429] [ds] Setting 'downloaded' not applicable
[I 16:42:09.429] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 16:42:09.429] [ds] Setting 'modes' not applicable
[I 16:42:09.429] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 16:42:09.429] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 16:42:09.431] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 16:42:09.431] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 16:42:09.431] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 16:42:09.431] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 16:42:09.431] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 16:42:09.431] isNewerVersion available=4.8, installed=4.19
[I 16:42:09.431] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 16:42:09.432] Ask.readOnly() val=undefined
[I 16:42:09.434] Ask.cert()
[I 16:42:09.511] [dtctr.pro] packet METR_READONLY reply:0
[I 16:42:09.556] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 16:42:09.595] verifyCert: verified=1
[I 16:42:09.595] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 16:42:09.598] [ds] Saving settings for EC8A9C8C71CF
[I 16:42:09.598] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:42:09.598] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:42:09.598] void Settings::endGroup()
[I 16:42:09.599] Ask.auth()
[I 16:42:09.829] verifySignature: data=2274a722b41cb68c4fdcf8229033c7cf7b58bda3a7e8a3a3b190e5aa060fd900(32), signature=f371b5584d5047a20abcda5ade564c9d513c7864de100c0769b50a52883bf892c15ba6801846a75f6e9eab1fba29f805103443780990e809bc39c5965e50b557(64)
[I 16:42:09.864] verifySignature: verified=1
[I 16:42:09.865] Ask.secure()
[I 16:42:10.007] [dtctr.pro] BLE secured
[I 16:42:10.008] Ask.version()
[I 16:42:10.014] [NRF_LOG] <info> app: connection already secured
[I 16:42:10.143] onFwMajorChanged=3
[I 16:42:10.145] [dtctr.pro] VESC FW3.103 HW410
[I 16:42:10.145] Ask.count()
[I 16:42:10.230] [si] allVESCsLen: 1
[I 16:42:10.231] VESC CAN ID 1
[I 16:42:10.231] VESC count 2
[I 16:42:10.231] onDetectMultipleFinishedChanged true
[I 16:42:10.231] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 16:42:10.231] Ask.version()
[I 16:42:10.239] Ask.startRt()
[E 16:42:10.325] Distance increase '64.8109' too big
[E 16:42:10.329] Tacho increase '20795' too big
[I 16:42:13.176] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 16:45:23.492] Speed abnormal '-0.403919'
[E 16:45:25.156] Speed abnormal '-0.374747'
[E 16:45:25.261] Speed abnormal '-0.411773'
[E 16:45:26.346] Speed abnormal '-0.0706858'
[E 16:45:26.528] Speed abnormal '-0.443189'
[E 16:45:26.676] Speed abnormal '-0.485824'
[E 16:45:26.739] Speed abnormal '-0.557632'
[E 16:45:26.827] Speed abnormal '-0.503776'
[E 16:45:26.982] Speed abnormal '-0.414017'
[E 16:46:11.229] Speed abnormal '-0.371381'
[E 16:46:11.428] Speed abnormal '-0.463385'
[E 16:46:11.517] Speed abnormal '-0.548656'
[E 16:46:11.637] Speed abnormal '-0.675442'
[E 16:46:11.698] Speed abnormal '-0.757348'
[E 16:46:11.848] Speed abnormal '-0.672076'
[E 16:46:11.907] Speed abnormal '-0.400553'
[E 16:46:14.074] Speed abnormal '-0.191861'
[E 16:46:20.740] Speed abnormal '-0.176153'
[E 16:46:25.740] Speed abnormal '-0.209813'
[E 16:47:49.457] Speed abnormal '-0.142494'
[E 16:48:01.122] Speed abnormal '-0.263669'
[E 16:48:01.295] Speed abnormal '-0.409529'
[E 16:48:03.008] Speed abnormal '-0.199715'
[E 16:48:48.661] Speed abnormal '-0.185129'
[E 16:48:48.758] Speed abnormal '-1.20166'
[E 16:48:48.846] Speed abnormal '-0.476848'
[E 16:48:55.190] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 16:48:55.191] virtual void bluetooth::MetrPro::reset()
[I 16:48:55.191] virtual void bluetooth::Device::reset()
[I 16:48:55.191] virtual void bluetooth::Device::disjoin()
[I 16:48:55.191] disjoin: disconnectFromDevice
[I 16:48:55.191] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:48:55.191] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:48:55.191] Device went offline, saving stats
[I 16:48:55.191] Saving stats: stats.EC8A9C8C71CF
[I 16:48:55.192] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 16:48:55.192] setValue: key=totalDistance, value=621715.5853105467
[I 16:48:55.192] setValue: key=totalWh, value=9445.699499998882
[I 16:48:55.192] setValue: key=totalTime, value=94044129
[I 16:48:55.192] setValue: key=topSpeed, value=50
[I 16:48:55.192] setValue: key=averageSpeed, value=20.466916157876163
[I 16:48:55.193] setValue: key=averageSpeedSec, value=110877.10000008433
[I 16:48:55.201] void Settings::endGroup()
[I 16:48:55.201] Device went offline, saving stats
[I 16:48:55.201] Saving stats: today.stats.EC8A9C8C71CF
[I 16:48:55.201] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 16:48:55.202] setValue: key=today, value=1584196747088
[I 16:48:55.202] setValue: key=totalDistance, value=16064.610848045955
[I 16:48:55.202] setValue: key=totalWh, value=235.0378
[I 16:48:55.202] setValue: key=totalTime, value=3028230
[I 16:48:55.202] setValue: key=topSpeed, value=36.99110025357144
[I 16:48:55.202] setValue: key=averageSpeed, value=20.129513153994633
[I 16:48:55.202] setValue: key=averageSpeedSec, value=8693.10000000229
[I 16:48:55.202] void Settings::endGroup()
[I 16:48:55.202] Global.device went offline
[I 16:48:55.203] onDetectMultipleFinishedChanged false
[I 16:48:55.204] [si] allVESCsLen: 0
[I 16:48:55.205] onFwMajorChanged=0
[I 16:48:55.205] Destroying detector
[I 16:48:55.205] notification: Bluetooth disconnected
[I 16:48:55.206] systemNotification: Bluetooth disconnected
[I 16:48:55.211] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:48:55.212] void bluetooth::Device::init()
[I 16:48:55.258] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:48:55.258] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:48:55.258] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:48:55.258] virtual void bluetooth::MetrPro::onDisconnected()
[I 16:48:55.258] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 16:48:55.258] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 16:48:56.221] Trying to reconnect...
[I 16:48:56.221] virtual void bluetooth::Device::join()
[I 16:48:56.502] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 16:48:57.812] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 16:48:57.812] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 16:48:57.812] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:48:57.812] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:48:57.812] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:48:57.813] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:48:57.813] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 16:48:57.813] void bluetooth::Device::onDiscoveryFinished()
[I 16:48:57.845] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 16:48:57.845] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:48:57.845] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:48:57.845] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:48:57.868] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 16:48:57.868] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 16:48:57.869] void bluetooth::MetrPro::checkFound()
[I 16:48:57.869] void bluetooth::Device::listen()
[I 16:48:57.929] onDescriptorWritten: value=0100(2)
[I 16:48:57.929] Global.device went online
[I 16:48:57.929] Creating Pro detector
[I 16:48:57.930] random: data=155044abcd75ee656afe8b2c90b3fd3fa9c828eec191e793bd2c4c6783e78b5c(32)
[I 16:48:57.930] Ask.metrProVersion()
[I 16:48:57.932] [dtctr.pro] Component.onCompleted
[I 16:48:57.977] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 16:48:57.979] [NRF_LOG]  bootloader: 0x00078000
[I 16:48:57.979] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 16:48:57.981] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 16:48:57.981] [NRF_LOG] <info> app: LL V9.183
[I 16:48:58.126] [NRF_LOG] <info> app: Advertising started
[I 16:48:58.127] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 16:48:58.128] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 16:48:58.128] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 16:48:58.129] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 16:48:58.129] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 16:48:58.131] [NRF_LOG] <info> app: detected CAN 1
[I 16:48:58.149] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 16:48:58.149] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 16:48:58.150] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 16:48:58.150] [NRF_LOG] <info> app: Connected
[I 16:48:58.150] [NRF_LOG] <info> app: Advertising stopped
[I 16:48:58.150] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:48:58.199] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:48:58.199] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:48:58.199] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:48:58.200] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 16:48:58.200] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 16:48:58.201] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 16:48:58.201] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 16:48:58.201] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 16:48:58.202] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 16:48:58.244] [ds] Activating settings for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Setting 'downloaded' not applicable
[I 16:48:58.244] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Setting 'modes' not applicable
[I 16:48:58.244] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 16:48:58.244] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 16:48:58.245] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 16:48:58.245] isNewerVersion available=4.8, installed=4.19
[I 16:48:58.245] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 16:48:58.245] Ask.readOnly() val=undefined
[I 16:48:58.246] Ask.cert()
[I 16:48:58.289] [dtctr.pro] packet METR_READONLY reply:0
[I 16:48:58.378] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 16:48:58.404] verifyCert: verified=1
[I 16:48:58.404] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 16:48:58.405] [ds] Saving settings for EC8A9C8C71CF
[I 16:48:58.405] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 16:48:58.405] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 16:48:58.406] void Settings::endGroup()
[I 16:48:58.406] Ask.auth()
[I 16:48:58.606] verifySignature: data=155044abcd75ee656afe8b2c90b3fd3fa9c828eec191e793bd2c4c6783e78b5c(32), signature=b3f7e78d44e619ef1c59e80f25db99e8d8faa86815f072dae06b037f08fca89c37ff2a8cfd069f5599c2f8eb4b6a5cef244ea83a536ac622f018b27abd668034(64)
[I 16:48:58.626] verifySignature: verified=1
[I 16:48:58.626] Ask.secure()
[I 16:48:58.696] [dtctr.pro] BLE secured
[I 16:48:58.697] Ask.version()
[I 16:48:58.703] [NRF_LOG] <info> app: connection already secured
[I 16:48:58.785] onFwMajorChanged=3
[I 16:48:58.787] [dtctr.pro] VESC FW3.103 HW410
[I 16:48:58.787] Ask.count()
[I 16:48:58.876] [si] allVESCsLen: 1
[I 16:48:58.878] VESC CAN ID 1
[I 16:48:58.878] VESC count 2
[I 16:48:58.878] onDetectMultipleFinishedChanged true
[I 16:48:58.878] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 16:48:58.879] Ask.version()
[I 16:48:58.883] Ask.startRt()
[I 16:49:02.170] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 16:50:03.752] Speed abnormal '-0.430847'
[E 16:50:03.854] Speed abnormal '-0.557632'
[E 16:50:03.965] Speed abnormal '-0.581194'
[E 16:50:04.054] Speed abnormal '-0.559876'
[E 16:50:06.302] Speed abnormal '-0.227765'
[E 16:50:06.794] Speed abnormal '-0.560998'
[E 16:50:06.916] Speed abnormal '-0.507142'
[E 16:50:07.095] Speed abnormal '-0.0392699'
[E 16:50:07.273] Speed abnormal '-0.336599'
[E 16:50:32.081] Speed abnormal '-0.204203'
[E 16:50:38.258] Speed abnormal '-0.293963'
[E 16:50:38.446] Speed abnormal '-0.603634'
[E 16:50:38.540] Speed abnormal '-0.12342'
[E 16:50:39.725] Speed abnormal '-0.318647'
[E 16:50:39.831] Speed abnormal '-0.620464'
[E 16:50:39.915] Speed abnormal '-0.810081'
[E 16:50:40.004] Speed abnormal '-1.04794'
[E 16:50:40.114] Speed abnormal '-0.961551'
[E 16:50:40.217] Speed abnormal '-0.751738'
[E 16:50:40.305] Speed abnormal '-0.615976'
[E 16:50:44.134] Speed abnormal '-0.872913'
[E 16:50:44.332] Speed abnormal '-0.259181'
[E 16:50:51.784] Speed abnormal '-0.451043'
[E 16:50:51.878] Speed abnormal '-0.543046'
[E 16:50:51.967] Speed abnormal '-0.615976'
[E 16:50:52.083] Speed abnormal '-0.750616'
[E 16:50:52.176] Speed abnormal '-0.740518'
[E 16:50:52.264] Speed abnormal '-0.687784'
[E 16:50:52.368] Speed abnormal '-0.950331'
[E 16:50:52.449] Speed abnormal '-0.972771'
[E 16:50:52.564] Speed abnormal '-0.967161'
[E 16:50:52.663] Speed abnormal '-0.732664'
[E 16:52:09.506] Speed abnormal '-0.695638'
[E 16:52:09.597] Speed abnormal '-0.59578'
[E 16:52:23.310] Speed abnormal '-0.001122'
[E 16:52:42.033] Speed abnormal '-0.250205'
[E 16:52:42.150] Speed abnormal '-1.3823'
[E 16:52:42.270] Speed abnormal '-2.46054'
[E 16:52:42.332] Speed abnormal '-2.08355'
[E 16:52:42.424] Speed abnormal '-0.703492'
[E 16:53:05.469] Speed abnormal '-0.491434'
[E 16:53:05.587] Speed abnormal '-0.385967'
[E 16:53:06.462] Speed abnormal '-0.374747'
[E 16:53:10.421] Speed abnormal '-0.504898'
[E 16:53:10.477] Speed abnormal '-0.851595'
[E 16:53:10.568] Speed abnormal '-1.0457'
[E 16:53:10.721] Speed abnormal '-1.33405'
[E 16:53:10.773] Speed abnormal '-1.41259'
[E 16:53:10.932] Speed abnormal '-0.911061'
[E 16:53:10.957] Speed abnormal '-0.333233'
[E 16:53:31.866] Speed abnormal '-0.289475'
[E 16:53:31.954] Speed abnormal '-0.421871'
[E 16:53:32.040] Speed abnormal '-0.642904'
[E 16:53:32.142] Speed abnormal '-0.729298'
[E 16:53:32.241] Speed abnormal '-0.886377'
[E 16:53:32.342] Speed abnormal '-0.711346'
[E 16:53:32.441] Speed abnormal '-0.650758'
[E 16:53:32.534] Speed abnormal '-0.449921'
[E 16:53:33.756] Speed abnormal '-0.138006'
[E 16:53:34.989] Speed abnormal '-0.54529'
[E 16:53:35.143] Speed abnormal '-0.694516'
[E 16:53:35.165] Speed abnormal '-0.715834'
[E 16:53:35.321] Speed abnormal '-0.808959'
[E 16:53:35.378] Speed abnormal '-0.738274'
[E 16:53:35.472] Speed abnormal '-0.608122'
[I 16:54:05.829] [mw] openRealtime
[I 16:54:05.871] [mw] openRealtime
[E 16:54:22.629] Speed abnormal '-0.865059'
[E 16:54:22.723] Speed abnormal '-1.12761'
[E 16:54:22.874] Speed abnormal '-1.24878'
[E 16:54:22.930] Speed abnormal '-1.18034'
[E 16:54:23.052] Speed abnormal '-1.30264'
[E 16:54:23.113] Speed abnormal '-1.36771'
[E 16:54:23.201] Speed abnormal '-1.31498'
[E 16:54:23.347] Speed abnormal '-1.22746'
[E 16:54:23.410] Speed abnormal '-0.935745'
[E 16:54:23.595] Speed abnormal '-0.518362'
[E 16:54:35.319] Speed abnormal '-0.342209'
[E 16:54:35.372] Speed abnormal '-0.287231'
[E 16:54:35.621] Speed abnormal '-0.580072'
[E 16:54:35.648] Speed abnormal '-0.73042'
[E 16:54:35.800] Speed abnormal '-0.76969'
[E 16:54:35.890] Speed abnormal '-0.893109'
[E 16:54:35.952] Speed abnormal '-0.975015'
[E 16:54:36.073] Speed abnormal '-0.878523'
[E 16:54:36.160] Speed abnormal '-0.825789'
[E 16:54:36.251] Speed abnormal '-0.682174'
[E 16:54:36.364] Speed abnormal '-0.510508'
[E 16:54:43.500] Speed abnormal '-0.398309'
[E 16:54:43.601] Speed abnormal '-0.50602'
[E 16:54:43.692] Speed abnormal '-0.529582'
[E 16:54:43.847] Speed abnormal '-0.582316'
[E 16:54:44.048] Speed abnormal '-0.357917'
[E 16:54:51.459] Speed abnormal '-0.436457'
[E 16:54:51.547] Speed abnormal '-0.714712'
[E 16:54:51.643] Speed abnormal '-0.963795'
[E 16:54:51.734] Speed abnormal '-1.17136'
[E 16:54:51.843] Speed abnormal '-1.21176'
[E 16:54:51.943] Speed abnormal '-1.07038'
[E 16:54:52.089] Speed abnormal '-0.969405'
[E 16:54:52.112] Speed abnormal '-0.837009'
[E 16:54:52.270] Speed abnormal '-0.863937'
[E 16:54:52.321] Speed abnormal '-0.76408'
[E 16:54:52.476] Speed abnormal '-0.794373'
[E 16:54:52.503] Speed abnormal '-0.677686'
[E 16:54:52.655] Speed abnormal '-0.473482'
[E 16:56:20.916] Speed abnormal '-0.225521'
[E 16:56:30.609] Speed abnormal '-0.356795'
[E 16:57:55.874] Speed abnormal '-0.232253'
[E 16:57:56.073] Speed abnormal '-0.345575'
[E 16:57:56.561] Speed abnormal '-0.832521'
[E 16:57:56.654] Speed abnormal '-1.22073'
[E 16:57:56.762] Speed abnormal '-0.620464'
[E 16:57:57.843] Speed abnormal '-0.235619'
[E 16:58:12.732] Speed abnormal '-0.917793'
[E 16:58:12.821] Speed abnormal '-1.23981'
[E 16:58:12.932] Speed abnormal '-1.39576'
[E 16:58:13.029] Speed abnormal '-1.48552'
[E 16:58:13.121] Speed abnormal '-1.65831'
[E 16:58:13.232] Speed abnormal '-1.72451'
[E 16:58:13.323] Speed abnormal '-0.911061'
[E 16:58:13.421] Speed abnormal '-0.405041'
[E 16:58:14.798] Speed abnormal '-0.48358'
[E 16:58:14.896] Speed abnormal '-0.466751'
[E 16:58:14.978] Speed abnormal '-0.51724'
[E 16:58:19.777] Speed abnormal '-0.144738'
[E 16:58:20.011] Speed abnormal '-0.198593'
[E 16:58:20.077] Speed abnormal '-0.445433'
[E 16:58:20.971] Speed abnormal '-0.224399'
[E 16:58:21.365] Speed abnormal '-0.205325'
[E 16:58:22.539] Speed abnormal '-0.931257'
[E 16:58:22.660] Speed abnormal '-0.259181'
[E 17:00:19.465] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 17:00:19.465] virtual void bluetooth::MetrPro::reset()
[I 17:00:19.472] virtual void bluetooth::Device::reset()
[I 17:00:19.472] virtual void bluetooth::Device::disjoin()
[I 17:00:19.472] disjoin: disconnectFromDevice
[I 17:00:19.472] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:19.472] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:19.473] Device went offline, saving stats
[I 17:00:19.473] Saving stats: stats.EC8A9C8C71CF
[I 17:00:19.473] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 17:00:19.473] setValue: key=totalDistance, value=623222.0493986551
[I 17:00:19.473] setValue: key=totalWh, value=9470.243499998898
[I 17:00:19.474] setValue: key=totalTime, value=94408005
[I 17:00:19.474] setValue: key=topSpeed, value=50
[I 17:00:19.474] setValue: key=averageSpeed, value=20.43137273285916
[I 17:00:19.474] setValue: key=averageSpeedSec, value=111870.10000009397
[I 17:00:19.474] void Settings::endGroup()
[I 17:00:19.474] Device went offline, saving stats
[I 17:00:19.474] Saving stats: today.stats.EC8A9C8C71CF
[I 17:00:19.474] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 17:00:19.474] setValue: key=today, value=1584196747088
[I 17:00:19.475] setValue: key=totalDistance, value=17571.074936150922
[I 17:00:19.475] setValue: key=totalWh, value=259.5818
[I 17:00:19.475] setValue: key=totalTime, value=3392106
[I 17:00:19.475] setValue: key=topSpeed, value=49.26574118214286
[I 17:00:19.475] setValue: key=averageSpeed, value=19.753592470963635
[I 17:00:19.475] setValue: key=averageSpeedSec, value=9686.099999999882
[I 17:00:19.475] void Settings::endGroup()
[I 17:00:19.475] Global.device went offline
[I 17:00:19.475] onDetectMultipleFinishedChanged false
[I 17:00:19.476] [si] allVESCsLen: 0
[I 17:00:19.479] onFwMajorChanged=0
[I 17:00:19.479] Destroying detector
[I 17:00:19.483] notification: Bluetooth disconnected
[I 17:00:19.484] systemNotification: Bluetooth disconnected
[I 17:00:19.496] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:19.496] void bluetooth::Device::init()
[I 17:00:19.532] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:00:19.532] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:00:19.532] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:19.532] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:00:19.532] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:00:19.532] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:20.493] Trying to reconnect...
[I 17:00:20.493] virtual void bluetooth::Device::join()
[I 17:00:20.637] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 17:00:21.864] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 17:00:21.865] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 17:00:21.865] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:21.865] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:21.865] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:21.871] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:21.872] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 17:00:21.872] void bluetooth::Device::onDiscoveryFinished()
[I 17:00:21.888] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:21.888] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:00:21.889] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:21.889] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:21.919] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:21.920] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:00:21.920] void bluetooth::MetrPro::checkFound()
[I 17:00:21.921] void bluetooth::Device::listen()
[I 17:00:22.157] onDescriptorWritten: value=0100(2)
[I 17:00:22.158] Global.device went online
[I 17:00:22.159] Creating Pro detector
[I 17:00:22.167] random: data=fa10b8dd61026d298928f419bd3f914254a8b703acd4a1ffbce43e626d73b4af(32)
[I 17:00:22.168] Ask.metrProVersion()
[I 17:00:22.175] [dtctr.pro] Component.onCompleted
[I 17:00:22.199] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 17:00:22.201] [NRF_LOG]  bootloader: 0x00078000
[I 17:00:22.201] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 17:00:22.202] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 17:00:22.202] [NRF_LOG] <info> app: LL V9.183
[I 17:00:22.291] [NRF_LOG] <info> app: Advertising started
[I 17:00:22.292] [NRF_LOG] <info> app: Connected
[I 17:00:22.293] [NRF_LOG] <info> app: Advertising stopped
[I 17:00:22.294] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:00:22.295] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:22.296] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:00:22.298] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:22.299] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 17:00:22.299] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 17:00:22.300] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:00:22.301] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:22.334] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x24, max=0x24.
[I 17:00:22.335] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:00:22.336] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 17:00:22.337] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:22.380] [ds] Activating settings for EC8A9C8C71CF
[I 17:00:22.380] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 17:00:22.381] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 17:00:22.382] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Setting 'downloaded' not applicable
[I 17:00:22.383] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Setting 'modes' not applicable
[I 17:00:22.383] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 17:00:22.383] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 17:00:22.384] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 17:00:22.384] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 17:00:22.384] isNewerVersion available=4.8, installed=4.19
[I 17:00:22.384] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 17:00:22.384] Ask.readOnly() val=undefined
[I 17:00:22.388] Ask.cert()
[I 17:00:22.426] [dtctr.pro] packet METR_READONLY reply:0
[I 17:00:22.516] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 17:00:22.574] verifyCert: verified=1
[I 17:00:22.575] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 17:00:22.576] [ds] Saving settings for EC8A9C8C71CF
[I 17:00:22.576] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 17:00:22.577] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 17:00:22.577] void Settings::endGroup()
[I 17:00:22.577] Ask.auth()
[I 17:00:22.790] verifySignature: data=fa10b8dd61026d298928f419bd3f914254a8b703acd4a1ffbce43e626d73b4af(32), signature=ef82e184445dc5ad18c331c18c4f476b7bd581200d93c6d725a2b7b9ec0c97c22f891953672d5613633123900bbfd031a940d419254f0fed6622e9c232106ebd(64)
[I 17:00:22.815] verifySignature: verified=1
[I 17:00:22.815] Ask.secure()
[I 17:00:22.872] [NRF_LOG] <info> app: connection already secured
[I 17:00:24.245] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 17:00:24.248] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 17:00:24.268] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 17:00:24.270] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 17:00:24.271] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 17:00:24.314] [NRF_LOG] <info> app: detected CAN 1
[I 17:00:24.316] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 17:00:24.318] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 17:00:24.365] [dtctr.pro] BLE secured
[I 17:00:24.365] Ask.version()
[I 17:00:24.371] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 17:00:24.452] onFwMajorChanged=3
[I 17:00:24.453] [dtctr.pro] VESC FW3.103 HW410
[I 17:00:24.453] Ask.count()
[I 17:00:24.540] [si] allVESCsLen: 1
[I 17:00:24.542] VESC CAN ID 1
[I 17:00:24.543] VESC count 2
[I 17:00:24.543] onDetectMultipleFinishedChanged true
[I 17:00:24.543] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 17:00:24.543] Ask.version()
[I 17:00:24.547] Ask.startRt()
[E 17:00:24.656] Distance increase '50.6394' too big
[E 17:00:24.664] Tacho increase '16248' too big
[I 17:00:26.072] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 17:00:34.553] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 17:00:34.554] virtual void bluetooth::MetrPro::reset()
[I 17:00:34.554] virtual void bluetooth::Device::reset()
[I 17:00:34.554] virtual void bluetooth::Device::disjoin()
[I 17:00:34.554] disjoin: disconnectFromDevice
[I 17:00:34.554] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:34.555] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:34.555] Device went offline, saving stats
[I 17:00:34.555] Saving stats: stats.EC8A9C8C71CF
[I 17:00:34.555] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 17:00:34.556] setValue: key=totalDistance, value=623244.0280620283
[I 17:00:34.556] setValue: key=totalWh, value=9471.810499998903
[I 17:00:34.556] setValue: key=totalTime, value=94423147
[I 17:00:34.556] setValue: key=topSpeed, value=50
[I 17:00:34.556] setValue: key=averageSpeed, value=20.431357375886524
[I 17:00:34.556] setValue: key=averageSpeedSec, value=111882.10000009408
[I 17:00:34.556] void Settings::endGroup()
[I 17:00:34.556] Device went offline, saving stats
[I 17:00:34.557] Saving stats: today.stats.EC8A9C8C71CF
[I 17:00:34.557] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 17:00:34.557] setValue: key=today, value=1584196747088
[I 17:00:34.557] setValue: key=totalDistance, value=17593.05359952392
[I 17:00:34.557] setValue: key=totalWh, value=261.1488
[I 17:00:34.557] setValue: key=totalTime, value=3407248
[I 17:00:34.557] setValue: key=topSpeed, value=49.26574118214286
[I 17:00:34.558] setValue: key=averageSpeed, value=19.754253960615888
[I 17:00:34.558] setValue: key=averageSpeedSec, value=9698.099999999853
[I 17:00:34.558] void Settings::endGroup()
[I 17:00:34.558] Global.device went offline
[I 17:00:34.558] onDetectMultipleFinishedChanged false
[I 17:00:34.559] [si] allVESCsLen: 0
[I 17:00:34.566] onFwMajorChanged=0
[I 17:00:34.566] Destroying detector
[I 17:00:34.567] notification: Bluetooth disconnected
[I 17:00:34.567] systemNotification: Bluetooth disconnected
[I 17:00:34.573] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:34.574] void bluetooth::Device::init()
[I 17:00:34.582] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:00:34.582] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:00:34.582] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:34.582] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:00:34.582] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:00:34.582] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:00:35.544] Trying to reconnect...
[I 17:00:35.545] virtual void bluetooth::Device::join()
[I 17:00:35.621] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 17:00:36.865] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 17:00:36.865] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 17:00:36.865] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:36.866] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:36.866] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:36.871] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:36.871] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 17:00:36.871] void bluetooth::Device::onDiscoveryFinished()
[I 17:00:36.887] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:00:36.888] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:00:36.888] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:36.888] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:36.932] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:00:36.932] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:00:36.933] void bluetooth::MetrPro::checkFound()
[I 17:00:36.933] void bluetooth::Device::listen()
[I 17:00:37.002] onDescriptorWritten: value=0100(2)
[I 17:00:37.002] Global.device went online
[I 17:00:37.003] Creating Pro detector
[I 17:00:37.004] random: data=cdc27be52a9b0fd3c14eabdddb0674c4afe291926bd5f202d0e697948c361c7f(32)
[I 17:00:37.004] Ask.metrProVersion()
[I 17:00:37.007] [dtctr.pro] Component.onCompleted
[I 17:00:37.053] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 17:00:37.054] [NRF_LOG]  bootloader: 0x00078000
[I 17:00:37.056] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 17:00:37.057] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 17:00:37.058] [NRF_LOG] <info> app: LL V9.183
[I 17:00:37.186] [NRF_LOG] <info> app: Advertising started
[I 17:00:37.188] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 17:00:37.189] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 17:00:37.189] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 17:00:37.190] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 17:00:37.191] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 17:00:37.193] [NRF_LOG] <info> app: detected CAN 1
[I 17:00:37.193] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 17:00:37.194] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 17:00:37.194] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 17:00:37.194] [NRF_LOG] <info> app: Connected
[I 17:00:37.195] [NRF_LOG] <info> app: Advertising stopped
[I 17:00:37.195] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:00:37.274] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:37.275] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:00:37.276] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:37.277] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 17:00:37.278] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 17:00:37.279] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:00:37.280] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 17:00:37.281] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:00:37.281] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:00:37.327] [ds] Activating settings for EC8A9C8C71CF
[I 17:00:37.327] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 17:00:37.327] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 17:00:37.328] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 17:00:37.329] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Setting 'downloaded' not applicable
[I 17:00:37.331] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Setting 'modes' not applicable
[I 17:00:37.331] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 17:00:37.331] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 17:00:37.331] isNewerVersion available=4.8, installed=4.19
[I 17:00:37.331] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 17:00:37.331] Ask.readOnly() val=undefined
[I 17:00:37.334] Ask.cert()
[I 17:00:37.364] [dtctr.pro] packet METR_READONLY reply:0
[I 17:00:37.454] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 17:00:37.481] verifyCert: verified=1
[I 17:00:37.482] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 17:00:37.483] [ds] Saving settings for EC8A9C8C71CF
[I 17:00:37.483] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 17:00:37.484] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 17:00:37.484] void Settings::endGroup()
[I 17:00:37.484] Ask.auth()
[I 17:00:37.683] verifySignature: data=cdc27be52a9b0fd3c14eabdddb0674c4afe291926bd5f202d0e697948c361c7f(32), signature=b8857a0574cdce4e0a2d225d64a59ba93a7337ed53d71ff8ea50e7e46e2cc707ea5a739ab34eec90d3c98e7381f4eaca9af7ca8bd8dae0a4d4c120622b3672a9(64)
[I 17:00:37.720] verifySignature: verified=1
[I 17:00:37.721] Ask.secure()
[I 17:00:37.814] [dtctr.pro] BLE secured
[I 17:00:37.815] Ask.version()
[I 17:00:37.820] [NRF_LOG] <info> app: connection already secured
[I 17:00:37.908] onFwMajorChanged=3
[I 17:00:37.909] [dtctr.pro] VESC FW3.103 HW410
[I 17:00:37.910] Ask.count()
[I 17:00:37.993] [si] allVESCsLen: 1
[I 17:00:37.994] VESC CAN ID 1
[I 17:00:37.994] VESC count 2
[I 17:00:37.994] onDetectMultipleFinishedChanged true
[I 17:00:37.994] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 17:00:37.994] Ask.version()
[I 17:00:37.996] Ask.startRt()
[E 17:00:38.104] Distance increase '55.5949' too big
[E 17:00:38.111] Tacho increase '17838' too big
[I 17:00:41.071] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 17:02:12.468] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 17:02:12.468] virtual void bluetooth::MetrPro::reset()
[I 17:02:12.468] virtual void bluetooth::Device::reset()
[I 17:02:12.468] virtual void bluetooth::Device::disjoin()
[I 17:02:12.468] disjoin: disconnectFromDevice
[I 17:02:12.469] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:02:12.469] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:02:12.469] Device went offline, saving stats
[I 17:02:12.469] Saving stats: stats.EC8A9C8C71CF
[I 17:02:12.469] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 17:02:12.470] setValue: key=totalDistance, value=623495.0529463233
[I 17:02:12.470] setValue: key=totalWh, value=9476.132499998943
[I 17:02:12.470] setValue: key=totalTime, value=94521012
[I 17:02:12.470] setValue: key=topSpeed, value=50
[I 17:02:12.470] setValue: key=averageSpeed, value=20.406748179274107
[I 17:02:12.470] setValue: key=averageSpeedSec, value=112151.8000000967
[I 17:02:12.470] void Settings::endGroup()
[I 17:02:12.470] Device went offline, saving stats
[I 17:02:12.470] Saving stats: today.stats.EC8A9C8C71CF
[I 17:02:12.470] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 17:02:12.471] setValue: key=today, value=1584196747088
[I 17:02:12.471] setValue: key=totalDistance, value=17844.0784838194
[I 17:02:12.471] setValue: key=totalWh, value=265.4708
[I 17:02:12.471] setValue: key=totalTime, value=3505113
[I 17:02:12.471] setValue: key=topSpeed, value=49.26574118214286
[I 17:02:12.471] setValue: key=averageSpeed, value=19.495686282143563
[I 17:02:12.471] setValue: key=averageSpeedSec, value=9967.799999999199
[I 17:02:12.471] void Settings::endGroup()
[I 17:02:12.471] Global.device went offline
[I 17:02:12.471] onDetectMultipleFinishedChanged false
[I 17:02:12.472] [si] allVESCsLen: 0
[I 17:02:12.473] onFwMajorChanged=0
[I 17:02:12.473] Destroying detector
[I 17:02:12.473] notification: Bluetooth disconnected
[I 17:02:12.473] systemNotification: Bluetooth disconnected
[I 17:02:12.478] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:02:12.478] void bluetooth::Device::init()
[I 17:02:12.484] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:02:12.484] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:02:12.484] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:02:12.484] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:02:12.484] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:02:12.484] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:02:13.478] Trying to reconnect...
[I 17:02:13.478] virtual void bluetooth::Device::join()
[I 17:02:13.627] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 17:02:14.803] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 17:02:14.804] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 17:02:14.804] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:02:14.804] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:02:14.804] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:02:14.808] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:02:14.808] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 17:02:14.808] void bluetooth::Device::onDiscoveryFinished()
[I 17:02:14.823] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:02:14.823] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:02:14.824] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:02:14.824] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:02:14.862] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:02:14.862] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:02:14.863] void bluetooth::MetrPro::checkFound()
[I 17:02:14.863] void bluetooth::Device::listen()
[I 17:02:14.923] onDescriptorWritten: value=0100(2)
[I 17:02:14.924] Global.device went online
[I 17:02:14.925] Creating Pro detector
[I 17:02:14.927] random: data=3cc4e1bc4db4277eda67a51bdc745e3448d45cf87cdfd5426375d6cc3ef1752c(32)
[I 17:02:14.928] Ask.metrProVersion()
[I 17:02:14.932] [dtctr.pro] Component.onCompleted
[I 17:02:14.973] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 17:02:14.974] [NRF_LOG]  bootloader: 0x00078000
[I 17:02:14.975] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 17:02:14.976] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 17:02:14.977] [NRF_LOG] <info> app: LL V9.183
[I 17:02:15.106] [NRF_LOG] <info> app: Advertising started
[I 17:02:15.108] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 17:02:15.109] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 17:02:15.109] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 17:02:15.110] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 17:02:15.111] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 17:02:15.160] [NRF_LOG] <info> app: detected CAN 1
[I 17:02:15.162] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 17:02:15.163] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 17:02:15.163] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 17:02:15.164] [NRF_LOG] <info> app: Connected
[I 17:02:15.165] [NRF_LOG] <info> app: Advertising stopped
[I 17:02:15.166] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:02:15.239] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:02:15.241] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:02:15.242] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:02:15.242] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 17:02:15.244] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 17:02:15.245] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:02:15.245] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 17:02:15.246] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:02:15.247] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:02:15.285] [ds] Activating settings for EC8A9C8C71CF
[I 17:02:15.285] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 17:02:15.286] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 17:02:15.286] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 17:02:15.286] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 17:02:15.286] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 17:02:15.287] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 17:02:15.288] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 17:02:15.288] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 17:02:15.288] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 17:02:15.288] [ds] Setting 'downloaded' not applicable
[I 17:02:15.288] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 17:02:15.288] [ds] Setting 'modes' not applicable
[I 17:02:15.289] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 17:02:15.289] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 17:02:15.289] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 17:02:15.289] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 17:02:15.289] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 17:02:15.289] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 17:02:15.291] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 17:02:15.291] isNewerVersion available=4.8, installed=4.19
[I 17:02:15.291] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 17:02:15.291] Ask.readOnly() val=undefined
[I 17:02:15.293] Ask.cert()
[I 17:02:15.337] [dtctr.pro] packet METR_READONLY reply:0
[I 17:02:15.421] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 17:02:15.459] verifyCert: verified=1
[I 17:02:15.459] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 17:02:15.461] [ds] Saving settings for EC8A9C8C71CF
[I 17:02:15.461] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 17:02:15.462] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 17:02:15.462] void Settings::endGroup()
[I 17:02:15.462] Ask.auth()
[I 17:02:15.698] verifySignature: data=3cc4e1bc4db4277eda67a51bdc745e3448d45cf87cdfd5426375d6cc3ef1752c(32), signature=364bfd48acff7b06827a288435791eb7027a9fc29033b4ef4601ae00e4f29a42eeb2457ca3793e5ba26cf3e4c3805c6fe35f9c595f88792f125a7fc30712df0d(64)
[I 17:02:15.727] verifySignature: verified=1
[I 17:02:15.728] Ask.secure()
[I 17:02:15.826] [dtctr.pro] BLE secured
[I 17:02:15.827] Ask.version()
[I 17:02:15.833] [NRF_LOG] <info> app: connection already secured
[I 17:02:15.915] onFwMajorChanged=3
[I 17:02:15.916] [dtctr.pro] VESC FW3.103 HW410
[I 17:02:15.917] Ask.count()
[I 17:02:16.004] [si] allVESCsLen: 1
[I 17:02:16.005] VESC CAN ID 1
[I 17:02:16.005] VESC count 2
[I 17:02:16.005] onDetectMultipleFinishedChanged true
[I 17:02:16.005] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 17:02:16.005] Ask.version()
[I 17:02:16.008] Ask.startRt()
[I 17:02:19.019] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 17:02:19.507] Speed abnormal '-0.558754'
[E 17:02:19.608] Speed abnormal '-1.12985'
[E 17:02:19.689] Speed abnormal '-1.7189'
[E 17:02:19.801] Speed abnormal '-2.00389'
[E 17:02:19.900] Speed abnormal '-1.57304'
[E 17:02:20.020] Speed abnormal '-0.751738'
[E 17:02:32.943] Speed abnormal '-0.398309'
[E 17:02:33.032] Speed abnormal '-0.60139'
[E 17:02:33.135] Speed abnormal '-0.898719'
[E 17:02:33.227] Speed abnormal '-1.18483'
[E 17:02:33.333] Speed abnormal '-1.49787'
[E 17:02:33.427] Speed abnormal '-1.69982'
[E 17:02:33.520] Speed abnormal '-1.63811'
[E 17:02:33.633] Speed abnormal '-1.90291'
[E 17:02:33.722] Speed abnormal '-1.95788'
[E 17:02:33.844] Speed abnormal '-1.90178'
[E 17:02:33.909] Speed abnormal '-1.92535'
[E 17:02:34.022] Speed abnormal '-1.13658'
[E 17:02:34.120] Speed abnormal '-0.667588'
[E 17:02:34.896] Speed abnormal '-0.132396'
[E 17:02:35.202] Speed abnormal '-0.448799'
[E 17:02:35.293] Speed abnormal '-0.453287'
[E 17:02:35.768] Speed abnormal '-0.207569'
[E 17:02:35.980] Speed abnormal '-0.168299'
[E 17:02:37.352] Speed abnormal '-0.305183'
[E 17:02:37.457] Speed abnormal '-0.176153'
[E 17:02:37.540] Speed abnormal '-0.802227'
[E 17:02:37.653] Speed abnormal '-0.420749'
[E 17:02:37.748] Speed abnormal '-0.393821'
[E 17:02:40.292] Speed abnormal '-0.240107'
[E 17:02:40.593] Speed abnormal '-0.509386'
[E 17:02:40.986] Speed abnormal '-0.212057'
[E 17:02:42.064] Speed abnormal '-0.0762958'
[E 17:03:35.148] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 17:03:35.149] virtual void bluetooth::MetrPro::reset()
[I 17:03:35.149] virtual void bluetooth::Device::reset()
[I 17:03:35.149] virtual void bluetooth::Device::disjoin()
[I 17:03:35.149] disjoin: disconnectFromDevice
[I 17:03:35.149] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:03:35.149] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:03:35.150] Device went offline, saving stats
[I 17:03:35.150] Saving stats: stats.EC8A9C8C71CF
[I 17:03:35.150] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 17:03:35.150] setValue: key=totalDistance, value=623620.492147038
[I 17:03:35.151] setValue: key=totalWh, value=9478.69649999895
[I 17:03:35.151] setValue: key=totalTime, value=94580162
[I 17:03:35.151] setValue: key=topSpeed, value=50
[I 17:03:35.151] setValue: key=averageSpeed, value=20.393773814761083
[I 17:03:35.151] setValue: key=averageSpeedSec, value=112288.60000009803
[I 17:03:35.151] void Settings::endGroup()
[I 17:03:35.151] Device went offline, saving stats
[I 17:03:35.151] Saving stats: today.stats.EC8A9C8C71CF
[I 17:03:35.151] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 17:03:35.151] setValue: key=today, value=1584196747088
[I 17:03:35.151] setValue: key=totalDistance, value=17969.517684533705
[I 17:03:35.152] setValue: key=totalWh, value=268.03479999999996
[I 17:03:35.152] setValue: key=totalTime, value=3564263
[I 17:03:35.152] setValue: key=topSpeed, value=49.26574118214286
[I 17:03:35.152] setValue: key=averageSpeed, value=19.363841383830007
[I 17:03:35.152] setValue: key=averageSpeedSec, value=10104.599999998867
[I 17:03:35.152] void Settings::endGroup()
[I 17:03:35.152] Global.device went offline
[I 17:03:35.152] onDetectMultipleFinishedChanged false
[I 17:03:35.153] [si] allVESCsLen: 0
[I 17:03:35.154] onFwMajorChanged=0
[I 17:03:35.155] Destroying detector
[I 17:03:35.155] notification: Bluetooth disconnected
[I 17:03:35.155] systemNotification: Bluetooth disconnected
[I 17:03:35.160] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:03:35.160] void bluetooth::Device::init()
[I 17:03:35.200] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:03:35.200] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:03:35.200] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:03:35.200] virtual void bluetooth::MetrPro::onDisconnected()
[I 17:03:35.200] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 17:03:35.200] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 17:03:36.162] Trying to reconnect...
[I 17:03:36.163] virtual void bluetooth::Device::join()
[I 17:03:36.258] void bluetooth::Device::onConnected(): name=Metr pro, uuid=EC8A9C8C71CF
[I 17:03:37.537] onServiceDiscovered: uuid={00001800-0000-1000-8000-00805f9b34fb}
[I 17:03:37.537] onServiceDiscovered: uuid={00001801-0000-1000-8000-00805f9b34fb}
[I 17:03:37.537] onServiceDiscovered: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:03:37.537] discoverDetails: uuid={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:03:37.538] onStateChanged: 2, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:03:37.542] onServiceDiscovered: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:03:37.542] onServiceDiscovered: uuid={0000180a-0000-1000-8000-00805f9b34fb}
[I 17:03:37.542] void bluetooth::Device::onDiscoveryFinished()
[I 17:03:37.556] onStateChanged: 3, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 17:03:37.556] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:03:37.556] discoverDetails: uuid={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:03:37.556] onStateChanged: 2, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:03:37.633] onStateChanged: 3, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 17:03:37.633] virtual void bluetooth::MetrPro::checkService(QLowEnergyService *)
[I 17:03:37.634] void bluetooth::MetrPro::checkFound()
[I 17:03:37.634] void bluetooth::Device::listen()
[I 17:03:37.811] onDescriptorWritten: value=0100(2)
[I 17:03:37.811] Global.device went online
[I 17:03:37.812] Creating Pro detector
[I 17:03:37.813] random: data=04c3ee7bc3c3c3bcf0e9d89025814a8352d609eaf1bcd39916b92b1ebb0ecf26(32)
[I 17:03:37.813] Ask.metrProVersion()
[I 17:03:37.816] [dtctr.pro] Component.onCompleted
[I 17:03:37.864] [NRF_LOG] Logs dropped (1)
<info> app: Setting vector table t
[I 17:03:37.865] [NRF_LOG]  bootloader: 0x00078000
[I 17:03:37.866] [NRF_LOG] <info> app: Setting vector table to main app: 0x00026000
[I 17:03:37.867] [NRF_LOG] <info> app: Metr Pro Firmware V4.19
[I 17:03:37.867] [NRF_LOG] <info> app: LL V9.183
[I 17:03:37.949] [NRF_LOG] <info> app: Advertising started
[I 17:03:37.951] [NRF_LOG] <info> app: detectBaud i=0, sRT=1
[I 17:03:37.952] [NRF_LOG] <info> app: detected baud i=0 sRT=1
[I 17:03:37.952] [NRF_LOG] <info> app: fw ma=3 mi=103
[I 17:03:37.953] [NRF_LOG] <info> app: detectCAN, canIdx=0
[I 17:03:37.953] [NRF_LOG] <info> app: detectCAN, canIdx=1
[I 17:03:37.955] [NRF_LOG] <info> app: detected CAN 1
[I 17:03:37.956] [NRF_LOG] <info> app: detectCAN, canIdx=2
[I 17:03:37.956] [NRF_LOG] <info> app: detectCAN, canIdx=3
[I 17:03:37.957] [NRF_LOG] <info> app: finishCanDetect, canIdx=4
[I 17:03:37.958] [NRF_LOG] <info> app: Connected
[I 17:03:37.958] [NRF_LOG] <info> app: Advertising stopped
[I 17:03:37.959] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:03:38.085] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:03:38.087] [NRF_LOG] <info> app: GAP_DATA_LENGTH_UPDATE_REQUEST
[I 17:03:38.088] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:03:38.089] [NRF_LOG] <info> app: Connection secd: ro: 1, co_ha: 0x0, proc: 0.
[I 17:03:38.091] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x6, max=0x6.
[I 17:03:38.091] [NRF_LOG] <info> app: DL is set to 0xF4(244)
[I 17:03:38.092] [NRF_LOG] <info> app: BLE_N_COMM_STARTED
[I 17:03:38.092] [NRF_LOG] <info> app: ex cptd, c 0xF7 p 0xF7
[I 17:03:38.093] [ds] Activating settings for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.batteryType value=1 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.canFwd value=1 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.cellVoltage0 value=3.1 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.cellVoltage1 value=3.35 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.cellVoltage10 value=4.2 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.cellVoltage2 value=3.50 for EC8A9C8C71CF
[I 17:03:38.094] [ds] Activated Prefs.cellVoltage3 value=3.62 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage4 value=3.71 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage5 value=3.79 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage6 value=3.86 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage7 value=3.95 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage8 value=4.04 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.cellVoltage9 value=4.07 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Activated Prefs.dieBieID value=10 for EC8A9C8C71CF
[I 17:03:38.095] [ds] Setting 'downloaded' not applicable
[I 17:03:38.095] [ds] Activated Prefs.lowVoltage value=0 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Setting 'modes' not applicable
[I 17:03:38.096] [ds] Activated Prefs.motorPulleyTeeth value=15 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.poles value=14 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.smoothVoltage value=1 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.voltageS value=12 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.wheelDiameter value=200 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.wheelPulleyTeeth value=72 for EC8A9C8C71CF
[I 17:03:38.096] [ds] Activated Prefs.metrProId value=RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k= for EC8A9C8C71CF
[I 17:03:38.097] isNewerVersion available=4.8, installed=4.19
[I 17:03:38.097] [dtctr.pro] Metr Pro V4.19 HW0 guid=6c88e467d63604f8274a765396959df6
[I 17:03:38.097] Ask.readOnly() val=undefined
[I 17:03:38.101] Ask.cert()
[I 17:03:38.129] [dtctr.pro] packet METR_READONLY reply:0
[I 17:03:38.221] verifyCert: data=308201213081c802017e300a06082a8648ce3d04030230123110300e060355040a0c076d6574722e6174301e170d3138303731323036333930395a170d3238303730393036333930395a30283110300e060355040a0c076d6574722e61743114301206035504030c0b39313238353932313339333059301306072a8648ce3d020106082a8648ce3d030107034200047d07158803f5cec4f7ca609e0a6af0e03617ac9c544dd9e364ae6da076adf899a703042ee3f1dd7678ac59d4ad7bc619d637ffe891a4d9d039a663c9ccf61403300a06082a8648ce3d040302034800304502205281528963d98c32ca8d988ec90cb9d56a53d4e53fe777c0d7b3928405b962fe022100eace1f4f21a485ca5ece9dd8d86e89132013d679c2b4156d025dd154ac0fb4bc(293)
[I 17:03:38.259] verifyCert: verified=1
[I 17:03:38.259] dumpErrors: error:0B086079:x509 certificate routines:X509_STORE_CTX_purpose_inherit:unknown purpose id
[I 17:03:38.261] [ds] Saving settings for EC8A9C8C71CF
[I 17:03:38.261] void Settings::beginGroup(const QString &): prefix=settings.EC8A9C8C71CF
[I 17:03:38.261] setValue: key=saved, value={"batteryType":"1","canFwd":1,"cellVoltage0":"3.1","cellVoltage1":"3.35","cellVoltage10":4.2,"cellVoltage2":"3.50","cellVoltage3":"3.62","cellVoltage4":"3.71","cellVoltage5":"3.79","cellVoltage6":"3.86","cellVoltage7":"3.95","cellVoltage8":"4.04","cellVoltage9":"4.07","dieBieID":10,"downloaded":true,"lowVoltage":"0","modes":[{"version":2,"max_speed":"22","l_current_max":"55","l_current_min":"-55","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"32","name":"legal","applied":false},{"version":2,"max_speed":"50","l_current_max":"70","l_current_min":"-70","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","l_abs_current_max":"130","l_battery_cut_start":"30","l_battery_cut_end":"29","name":"custom","applied":false},{"version":2,"max_speed":"55","l_current_max":"70","l_current_min":"-70","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_abs_current_max":"130","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo","applied":true},{"version":2,"max_speed":"20","l_current_max":"55","l_current_min":"-60","l_in_current_max":"35","l_in_current_min":"-7","l_temp_fet_start":"60","l_temp_fet_end":"70","l_temp_motor_start":"60","l_temp_motor_end":"70","l_watt_max":"15000","l_watt_min":"-15000","l_abs_current_max":"80","l_battery_cut_start":"42","l_battery_cut_end":"40","name":"lipo legal","applied":false},{"version":3,"max_speed":"40","l_current_max":"75","l_current_min":"-70","l_in_current_max":"49","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"FOC 10s","applied":false},{"version":3,"max_speed":"60","l_current_max":"75","l_current_min":"-70","l_in_current_max":"39","l_in_current_min":"-10","l_temp_fet_start":"85","l_temp_fet_end":"100","l_min_vin":"6","l_max_vin":"57","l_battery_cut_start":"43","l_battery_cut_end":"40.5","name":"FOC 12s","applied":false},{"version":3,"max_speed":"5","l_current_max":"60","l_current_min":"-60","l_in_current_max":"25","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_battery_cut_start":"32","l_battery_cut_end":"30","name":"6kmh","applied":false},{"version":3,"max_speed":"120","l_current_max":"60","l_current_min":"-60","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"foc mtb","applied":false},{"version":3,"max_speed":"45","l_current_max":"67","l_current_min":"-67","l_in_current_max":"60","l_in_current_min":"-7","l_temp_fet_start":"85","l_temp_fet_end":"100","l_temp_motor_start":"85","l_temp_motor_end":"100","l_watt_max":"1.5e+06","l_watt_min":"-1.5e+06","name":"stock 40","applied":false},{"version":3,"max_speed":"50","l_min_erpm":"-60000","l_max_erpm":"44563.4","l_erpm_start":"0.8","l_max_erpm_fbrake":"300","sl_min_erpm":"150","sl_min_erpm_cycle_int_limit":"1100","name":"manbabe","applied":false}],"motorPulleyTeeth":"15","poles":14,"smoothVoltage":1,"voltageS":"12","wheelDiameter":"200","wheelPulleyTeeth":"72","metrProId":"RtldpvDjBU+ON50XNuKR6FKyQNPRyWRt3oVburXo/3k="}
[I 17:03:38.262] void Settings::endGroup()
[I 17:03:38.262] Ask.auth()
[I 17:03:38.501] verifySignature: data=04c3ee7bc3c3c3bcf0e9d89025814a8352d609eaf1bcd39916b92b1ebb0ecf26(32), signature=5553197f9d1e146ea0aceca239dddf393ff22a45289190d0c132897f592ff64680faea400f1b8aaef0be30f3e0a1d6206cb2abe7c872b55149ebcbca9e9f7064(64)
[I 17:03:38.537] verifySignature: verified=1
[I 17:03:38.537] Ask.secure()
[I 17:03:38.625] [dtctr.pro] BLE secured
[I 17:03:38.626] Ask.version()
[I 17:03:38.631] [NRF_LOG] <info> app: connection already secured
[I 17:03:38.715] onFwMajorChanged=3
[I 17:03:38.717] [dtctr.pro] VESC FW3.103 HW410
[I 17:03:38.717] Ask.count()
[I 17:03:38.802] [si] allVESCsLen: 1
[I 17:03:38.803] VESC CAN ID 1
[I 17:03:38.803] VESC count 2
[I 17:03:38.803] onDetectMultipleFinishedChanged true
[I 17:03:38.803] Metr Pro FW >= 3.55, trying to detect DieBieMS
[I 17:03:38.803] Ask.version()
[I 17:03:38.805] Ask.startRt()
[E 17:03:38.922] Tacho increase '11499' too big
[I 17:03:41.731] [NRF_LOG] <info> app: BLE_GAP_EVT_CONN_PARAM_UPDATE: min=0x18, max=0x18.
[E 17:03:57.541] Speed abnormal '-0.216545'
[E 17:04:28.624] Speed abnormal '-0.232253'
[E 17:04:29.557] Speed abnormal '-0.309671'
[E 17:04:29.673] Speed abnormal '-0.70798'
[E 17:04:29.733] Speed abnormal '-0.591292'
[E 17:04:29.864] Speed abnormal '-0.366893'
[E 17:04:29.943] Speed abnormal '-0.865059'
[E 17:04:30.063] Speed abnormal '-1.11751'
[E 17:04:30.149] Speed abnormal '-1.32732'
[E 17:04:30.281] Speed abnormal '-1.49899'
[E 17:04:30.330] Speed abnormal '-1.43055'
[E 17:04:31.246] Speed abnormal '-0.830277'
[E 17:04:31.351] Speed abnormal '-1.15902'
[E 17:04:31.414] Speed abnormal '-1.19044'
[E 17:04:31.502] Speed abnormal '-1.14444'
[E 17:04:31.617] Speed abnormal '-1.20166'
[E 17:04:31.716] Speed abnormal '-1.30488'
[E 17:04:31.869] Speed abnormal '-0.251327'
[E 17:04:32.786] Speed abnormal '-0.337721'
[E 17:04:32.916] Speed abnormal '-0.543046'
[E 17:04:33.183] Speed abnormal '-0.144738'
[E 17:11:24.523] Speed abnormal '-0.199715'
[E 17:16:19.152] Speed abnormal '-0.001122'
[E 17:16:44.854] Speed abnormal '-0.47236'
[E 17:16:45.722] Speed abnormal '-0.53407'
[E 17:16:49.166] Speed abnormal '-0.001122'
[I 17:16:59.332] [rt] exit
[I 17:16:59.342] [expert] enter
[I 17:16:59.342] Ask.stopRt()
[I 17:16:59.350] [expert] setup FW3.103
[I 17:16:59.350] [confs] Initializing 2 configuration containers
[I 17:16:59.350] createMotorConf FW 3.103
[I 17:16:59.351] createMotorConf FW 3.103
[I 17:16:59.352] [expert] tab deletage setup
[I 17:16:59.352] [expert] tab deletage setup
[I 17:16:59.401] [expert] tab deletage setup
[I 17:16:59.401] [expert] tab deletage setup
[I 17:16:59.430] [confs] read()
[I 17:16:59.430] createMotorConf FW 3.103
[I 17:16:59.431] [confs] readMotorConfiguration
[I 17:16:59.431] Ask.motorConfGet()
[I 17:16:59.648] Stopping configurations timer
[I 17:16:59.649] [confs] GET_MCCONF reply currentId=0
[I 17:16:59.649] Ask.motorConfRead()
[I 17:16:59.649] [ask]: conf does not have signature
[I 17:16:59.649] MC:pwm_mode=1
[I 17:16:59.652] MC:comm_mode=0
[I 17:16:59.652] MC:motor_type=2
[I 17:16:59.653] MC:sensor_mode=2
[I 17:16:59.655] MC:l_current_max=70
[I 17:16:59.655] MC:l_current_min=-70
[I 17:16:59.656] MC:l_in_current_max=35
[I 17:16:59.656] MC:l_in_current_min=-7
[I 17:16:59.657] MC:l_abs_current_max=130
[I 17:16:59.657] MC:l_min_erpm=-60000
[I 17:16:59.657] MC:l_max_erpm=49019.8
[I 17:16:59.658] MC:l_erpm_start=0.8
[I 17:16:59.658] MC:l_max_erpm_fbrake=300
[I 17:16:59.658] MC:l_max_erpm_fbrake_cc=1500
[I 17:16:59.658] MC:l_min_vin=6
[I 17:16:59.659] MC:l_max_vin=57
[I 17:16:59.659] MC:l_battery_cut_start=42
[I 17:16:59.659] MC:l_battery_cut_end=40
[I 17:16:59.659] MC:l_slow_abs_current=1
[I 17:16:59.659] MC:l_temp_fet_start=85
[I 17:16:59.659] MC:l_temp_fet_end=100
[I 17:16:59.659] MC:l_temp_motor_start=85
[I 17:16:59.659] MC:l_temp_motor_end=100
[I 17:16:59.659] MC:l_temp_accel_dec=0.1
[I 17:16:59.659] MC:l_min_duty=0.005
[I 17:16:59.659] MC:l_max_duty=0.95
[I 17:16:59.660] MC:l_watt_max=15000
[I 17:16:59.660] MC:l_watt_min=-15000
[I 17:16:59.660] MC:sl_min_erpm=150
[I 17:16:59.660] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:16:59.660] MC:sl_max_fullbreak_current_dir_change=10
[I 17:16:59.660] MC:sl_cycle_int_limit=62
[I 17:16:59.660] MC:sl_phase_advance_at_br=0.8
[I 17:16:59.660] MC:sl_cycle_int_rpm_br=80000
[I 17:16:59.660] MC:sl_bemf_coupling_k=600
[I 17:16:59.660] MC:hall_table_0=255
[I 17:16:59.660] MC:hall_table_1=1
[I 17:16:59.660] MC:hall_table_2=3
[I 17:16:59.660] MC:hall_table_3=2
[I 17:16:59.661] MC:hall_table_4=5
[I 17:16:59.661] MC:hall_table_5=6
[I 17:16:59.661] MC:hall_table_6=4
[I 17:16:59.661] MC:hall_table_7=255
[I 17:16:59.661] MC:hall_sl_erpm=2000
[I 17:16:59.661] MC:foc_current_kp=0.0044
[I 17:16:59.661] MC:foc_current_ki=13.95
[I 17:16:59.661] MC:foc_f_sw=20000
[I 17:16:59.661] MC:foc_dt_us=0.08
[I 17:16:59.661] MC:foc_encoder_inverted=0
[I 17:16:59.661] MC:foc_encoder_offset=180
[I 17:16:59.661] MC:foc_encoder_ratio=7
[I 17:16:59.661] MC:foc_sensor_mode=2
[I 17:16:59.661] MC:foc_pll_kp=2000
[I 17:16:59.661] MC:foc_pll_ki=40000
[I 17:16:59.662] MC:foc_motor_l=4.37e-06
[I 17:16:59.662] MC:foc_motor_r=0.0139
[I 17:16:59.662] MC:foc_motor_flux_linkage=0.004444
[I 17:16:59.662] MC:foc_observer_gain=5.064e+07
[I 17:16:59.662] MC:foc_observer_gain_slow=0.3
[I 17:16:59.662] MC:foc_duty_dowmramp_kp=10
[I 17:16:59.662] MC:foc_duty_dowmramp_ki=200
[I 17:16:59.662] MC:foc_openloop_rpm=400
[I 17:16:59.662] MC:foc_sl_openloop_hyst=0.1
[I 17:16:59.662] MC:foc_sl_openloop_time=0.1
[I 17:16:59.662] MC:foc_sl_d_current_duty=0
[I 17:16:59.662] MC:foc_sl_d_current_factor=0
[I 17:16:59.663] MC:foc_hall_table0=255
[I 17:16:59.663] MC:foc_hall_table1=86
[I 17:16:59.663] MC:foc_hall_table2=17
[I 17:16:59.663] MC:foc_hall_table3=56
[I 17:16:59.663] MC:foc_hall_table4=155
[I 17:16:59.663] MC:foc_hall_table5=119
[I 17:16:59.663] MC:foc_hall_table6=183
[I 17:16:59.663] MC:foc_hall_table7=255
[I 17:16:59.663] MC:foc_sl_erpm=2500
[I 17:16:59.663] MC:foc_sample_v0_v7=0
[I 17:16:59.663] MC:foc_sample_high_current=0
[I 17:16:59.663] MC:foc_sat_comp=0
[I 17:16:59.663] MC:foc_temp_comp=0
[I 17:16:59.663] MC:foc_temp_comp_base_temp=25
[I 17:16:59.663] MC:foc_current_filter_const=0.1
[I 17:16:59.663] MC:s_pid_kp=0.002
[I 17:16:59.664] MC:s_pid_ki=0.002
[I 17:16:59.664] MC:s_pid_kd=0
[I 17:16:59.664] MC:s_pid_kd_filter=0.2
[I 17:16:59.664] MC:s_pid_min_rpm=900
[I 17:16:59.664] MC:s_pid_allow_braking=1
[I 17:16:59.664] MC:p_pid_kp=0.03
[I 17:16:59.664] MC:p_pid_ki=0
[I 17:16:59.664] MC:p_pid_kd=0.0004
[I 17:16:59.664] MC:p_pid_kd_filter=0.2
[I 17:16:59.664] MC:p_pid_ang_div=1
[I 17:16:59.664] MC:cc_startup_boost_duty=0.01
[I 17:16:59.664] MC:cc_min_current=0.1
[I 17:16:59.664] MC:cc_gain=0.0046
[I 17:16:59.664] MC:cc_ramp_step_max=0.04
[I 17:16:59.665] MC:m_fault_stop_time_ms=500
[I 17:16:59.665] MC:m_duty_ramp_step=0.02
[I 17:16:59.665] MC:m_current_backoff_gain=0.5
[I 17:16:59.665] MC:m_encoder_counts=8192
[I 17:16:59.665] MC:m_sensor_port_mode=0
[I 17:16:59.665] MC:m_invert_direction=0
[I 17:16:59.665] MC:m_drv8301_oc_mode=0
[I 17:16:59.665] MC:m_drv8301_oc_adj=16
[I 17:16:59.665] MC:m_bldc_f_sw_min=3000
[I 17:16:59.665] MC:m_bldc_f_sw_max=40000
[I 17:16:59.665] MC:m_dc_f_sw=35000
[I 17:16:59.665] MC:m_ntc_motor_beta=3380
[I 17:16:59.666] [confs] readAppConfiguration
[I 17:16:59.666] Ask.appConfGet()
[I 17:16:59.798] Stopping configurations timer
[I 17:16:59.799] [confs] GET_APPCONF reply currentId=0
[I 17:16:59.799] Ask.appConfRead()
[I 17:16:59.799] [ask]: conf does not have signature
[I 17:16:59.799] AC:controller_id=0
[I 17:16:59.800] AC:timeout_msec=1000
[I 17:16:59.800] AC:timeout_brake_current=0
[I 17:16:59.800] AC:send_can_status=1
[I 17:16:59.800] AC:send_can_status_rate_hz=200
[I 17:16:59.800] AC:can_baud_rate=2
[I 17:16:59.800] AC:app_to_use=4
[I 17:16:59.800] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:16:59.800] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:16:59.801] AC:app_ppm_conf_hyst=0.15
[I 17:16:59.801] AC:app_ppm_conf_pulse_start=1.145
[I 17:16:59.801] AC:app_ppm_conf_pulse_end=1.938
[I 17:16:59.801] AC:app_ppm_conf_pulse_center=1.538
[I 17:16:59.801] AC:app_ppm_conf_median_filter=1
[I 17:16:59.801] AC:app_ppm_conf_safe_start=1
[I 17:16:59.801] AC:app_ppm_conf_throttle_exp=0.85
[I 17:16:59.801] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:16:59.801] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:16:59.801] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:16:59.801] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:16:59.802] AC:app_ppm_conf_multi_esc=1
[I 17:16:59.802] AC:app_ppm_conf_tc=1
[I 17:16:59.802] AC:app_ppm_conf_tc_max_diff=5000
[I 17:16:59.802] AC:app_adc_conf_ctrl_type=0
[I 17:16:59.802] AC:app_adc_conf_hyst=0.15
[I 17:16:59.802] AC:app_adc_conf_voltage_start=0.9
[I 17:16:59.802] AC:app_adc_conf_voltage_end=3
[I 17:16:59.802] AC:app_adc_conf_voltage_center=2
[I 17:16:59.802] AC:app_adc_conf_voltage2_start=0.9
[I 17:16:59.802] AC:app_adc_conf_voltage2_end=3
[I 17:16:59.803] AC:app_adc_conf_use_filter=1
[I 17:16:59.803] AC:app_adc_conf_safe_start=1
[I 17:16:59.803] AC:app_adc_conf_cc_button_inverted=0
[I 17:16:59.803] AC:app_adc_conf_rev_button_inverted=0
[I 17:16:59.803] AC:app_adc_conf_voltage_inverted=0
[I 17:16:59.803] AC:app_adc_conf_voltage2_inverted=0
[I 17:16:59.803] AC:app_adc_conf_throttle_exp=0
[I 17:16:59.803] AC:app_adc_conf_throttle_exp_brake=0
[I 17:16:59.803] AC:app_adc_conf_throttle_exp_mode=3
[I 17:16:59.803] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:16:59.804] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:16:59.804] AC:app_adc_conf_multi_esc=0
[I 17:16:59.804] AC:app_adc_conf_tc=0
[I 17:16:59.804] AC:app_adc_conf_tc_max_diff=5000
[I 17:16:59.804] AC:app_adc_conf_update_rate_hz=500
[I 17:16:59.804] AC:app_uart_baudrate=115200
[I 17:16:59.804] AC:app_chuk_conf_ctrl_type=1
[I 17:16:59.804] AC:app_chuk_conf_hyst=0.15
[I 17:16:59.804] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:16:59.804] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:16:59.805] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:16:59.805] AC:app_chuk_conf_throttle_exp=0
[I 17:16:59.805] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:16:59.805] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:16:59.805] AC:app_chuk_conf_multi_esc=0
[I 17:16:59.805] AC:app_chuk_conf_tc=0
[I 17:16:59.805] AC:app_chuk_conf_tc_max_diff=5000
[I 17:16:59.805] AC:app_nrf_conf_speed=2
[I 17:16:59.805] AC:app_nrf_conf_power=3
[I 17:16:59.806] AC:app_nrf_conf_crc_type=1
[I 17:16:59.806] AC:app_nrf_conf_retry_delay=0
[I 17:16:59.806] AC:app_nrf_conf_retries=3
[I 17:16:59.806] AC:app_nrf_conf_channel=76
[I 17:16:59.806] AC:app_nrf_conf_address=13027072
[I 17:16:59.806] AC:app_nrf_conf_send_crc_ack=1
[I 17:16:59.806] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:16:59.806] AC:ack_app_ppm_conf_cruise_left=0
[I 17:16:59.806] AC:ack_app_ppm_conf_cruise_right=0
[I 17:16:59.806] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:16:59.806] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:16:59.807] AC:ack_app_adc_conf_tc_offset=3000
[I 17:16:59.807] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:16:59.807] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:16:59.807] [confs] readMotorConfiguration
[I 17:16:59.807] Ask.motorConfGet()
[I 17:17:00.032] Stopping configurations timer
[I 17:17:00.033] [confs] GET_MCCONF reply currentId=1
[I 17:17:00.033] Ask.motorConfRead()
[I 17:17:00.033] [ask]: conf does not have signature
[I 17:17:00.033] MC:pwm_mode=1
[I 17:17:00.035] MC:comm_mode=0
[I 17:17:00.035] MC:motor_type=2
[I 17:17:00.037] MC:sensor_mode=2
[I 17:17:00.038] MC:l_current_max=70
[I 17:17:00.038] MC:l_current_min=-70
[I 17:17:00.039] MC:l_in_current_max=35
[I 17:17:00.039] MC:l_in_current_min=-7
[I 17:17:00.040] MC:l_abs_current_max=130
[I 17:17:00.040] MC:l_min_erpm=-60000
[I 17:17:00.042] MC:l_max_erpm=49019.8
[I 17:17:00.043] MC:l_erpm_start=0.8
[I 17:17:00.043] MC:l_max_erpm_fbrake=300
[I 17:17:00.043] MC:l_max_erpm_fbrake_cc=1500
[I 17:17:00.043] MC:l_min_vin=6
[I 17:17:00.044] MC:l_max_vin=57
[I 17:17:00.044] MC:l_battery_cut_start=42
[I 17:17:00.044] MC:l_battery_cut_end=40
[I 17:17:00.044] MC:l_slow_abs_current=1
[I 17:17:00.044] MC:l_temp_fet_start=85
[I 17:17:00.044] MC:l_temp_fet_end=100
[I 17:17:00.044] MC:l_temp_motor_start=85
[I 17:17:00.044] MC:l_temp_motor_end=100
[I 17:17:00.044] MC:l_temp_accel_dec=0.1
[I 17:17:00.044] MC:l_min_duty=0.005
[I 17:17:00.044] MC:l_max_duty=0.95
[I 17:17:00.044] MC:l_watt_max=15000
[I 17:17:00.044] MC:l_watt_min=-15000
[I 17:17:00.045] MC:sl_min_erpm=150
[I 17:17:00.045] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:17:00.045] MC:sl_max_fullbreak_current_dir_change=10
[I 17:17:00.045] MC:sl_cycle_int_limit=62
[I 17:17:00.045] MC:sl_phase_advance_at_br=0.8
[I 17:17:00.045] MC:sl_cycle_int_rpm_br=80000
[I 17:17:00.045] MC:sl_bemf_coupling_k=600
[I 17:17:00.045] MC:hall_table_0=255
[I 17:17:00.045] MC:hall_table_1=1
[I 17:17:00.045] MC:hall_table_2=3
[I 17:17:00.045] MC:hall_table_3=2
[I 17:17:00.046] MC:hall_table_4=5
[I 17:17:00.046] MC:hall_table_5=6
[I 17:17:00.046] MC:hall_table_6=4
[I 17:17:00.046] MC:hall_table_7=255
[I 17:17:00.046] MC:hall_sl_erpm=2000
[I 17:17:00.046] MC:foc_current_kp=0.005
[I 17:17:00.046] MC:foc_current_ki=13.65
[I 17:17:00.046] MC:foc_f_sw=20000
[I 17:17:00.046] MC:foc_dt_us=0.08
[I 17:17:00.046] MC:foc_encoder_inverted=0
[I 17:17:00.046] MC:foc_encoder_offset=180
[I 17:17:00.046] MC:foc_encoder_ratio=7
[I 17:17:00.046] MC:foc_sensor_mode=2
[I 17:17:00.047] MC:foc_pll_kp=2000
[I 17:17:00.047] MC:foc_pll_ki=40000
[I 17:17:00.047] MC:foc_motor_l=4.96e-06
[I 17:17:00.047] MC:foc_motor_r=0.0137
[I 17:17:00.047] MC:foc_motor_flux_linkage=0.004425
[I 17:17:00.047] MC:foc_observer_gain=5.107e+07
[I 17:17:00.047] MC:foc_observer_gain_slow=0.3
[I 17:17:00.047] MC:foc_duty_dowmramp_kp=10
[I 17:17:00.047] MC:foc_duty_dowmramp_ki=200
[I 17:17:00.047] MC:foc_openloop_rpm=400
[I 17:17:00.047] MC:foc_sl_openloop_hyst=0.1
[I 17:17:00.047] MC:foc_sl_openloop_time=0.1
[I 17:17:00.048] MC:foc_sl_d_current_duty=0
[I 17:17:00.048] MC:foc_sl_d_current_factor=0
[I 17:17:00.048] MC:foc_hall_table0=255
[I 17:17:00.048] MC:foc_hall_table1=52
[I 17:17:00.048] MC:foc_hall_table2=115
[I 17:17:00.048] MC:foc_hall_table3=82
[I 17:17:00.048] MC:foc_hall_table4=179
[I 17:17:00.048] MC:foc_hall_table5=15
[I 17:17:00.048] MC:foc_hall_table6=149
[I 17:17:00.048] MC:foc_hall_table7=255
[I 17:17:00.048] MC:foc_sl_erpm=2500
[I 17:17:00.048] MC:foc_sample_v0_v7=0
[I 17:17:00.048] MC:foc_sample_high_current=0
[I 17:17:00.048] MC:foc_sat_comp=0
[I 17:17:00.048] MC:foc_temp_comp=0
[I 17:17:00.049] MC:foc_temp_comp_base_temp=25
[I 17:17:00.049] MC:foc_current_filter_const=0.1
[I 17:17:00.049] MC:s_pid_kp=0.002
[I 17:17:00.049] MC:s_pid_ki=0.002
[I 17:17:00.049] MC:s_pid_kd=0
[I 17:17:00.049] MC:s_pid_kd_filter=0.2
[I 17:17:00.049] MC:s_pid_min_rpm=900
[I 17:17:00.049] MC:s_pid_allow_braking=1
[I 17:17:00.049] MC:p_pid_kp=0.03
[I 17:17:00.049] MC:p_pid_ki=0
[I 17:17:00.049] MC:p_pid_kd=0.0004
[I 17:17:00.049] MC:p_pid_kd_filter=0.2
[I 17:17:00.049] MC:p_pid_ang_div=1
[I 17:17:00.049] MC:cc_startup_boost_duty=0.01
[I 17:17:00.050] MC:cc_min_current=0.1
[I 17:17:00.051] MC:cc_gain=0.0046
[I 17:17:00.051] MC:cc_ramp_step_max=0.04
[I 17:17:00.051] MC:m_fault_stop_time_ms=500
[I 17:17:00.051] MC:m_duty_ramp_step=0.02
[I 17:17:00.051] MC:m_current_backoff_gain=0.5
[I 17:17:00.051] MC:m_encoder_counts=8192
[I 17:17:00.051] MC:m_sensor_port_mode=0
[I 17:17:00.051] MC:m_invert_direction=0
[I 17:17:00.051] MC:m_drv8301_oc_mode=0
[I 17:17:00.051] MC:m_drv8301_oc_adj=16
[I 17:17:00.051] MC:m_bldc_f_sw_min=3000
[I 17:17:00.051] MC:m_bldc_f_sw_max=40000
[I 17:17:00.051] MC:m_dc_f_sw=35000
[I 17:17:00.051] MC:m_ntc_motor_beta=3380
[I 17:17:00.051] [confs] readAppConfiguration
[I 17:17:00.051] Ask.appConfGet()
[I 17:17:00.147] Stopping configurations timer
[I 17:17:00.147] [confs] GET_APPCONF reply currentId=1
[I 17:17:00.147] Ask.appConfRead()
[I 17:17:00.147] [ask]: conf does not have signature
[I 17:17:00.147] AC:controller_id=1
[I 17:17:00.147] AC:timeout_msec=1000
[I 17:17:00.147] AC:timeout_brake_current=0
[I 17:17:00.147] AC:send_can_status=1
[I 17:17:00.147] AC:send_can_status_rate_hz=200
[I 17:17:00.148] AC:can_baud_rate=2
[I 17:17:00.148] AC:app_to_use=3
[I 17:17:00.148] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:17:00.148] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:17:00.148] AC:app_ppm_conf_hyst=0.15
[I 17:17:00.148] AC:app_ppm_conf_pulse_start=1.145
[I 17:17:00.148] AC:app_ppm_conf_pulse_end=1.938
[I 17:17:00.148] AC:app_ppm_conf_pulse_center=1.538
[I 17:17:00.148] AC:app_ppm_conf_median_filter=1
[I 17:17:00.148] AC:app_ppm_conf_safe_start=1
[I 17:17:00.148] AC:app_ppm_conf_throttle_exp=0.5
[I 17:17:00.148] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:17:00.148] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:17:00.148] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:17:00.148] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:17:00.148] AC:app_ppm_conf_multi_esc=1
[I 17:17:00.148] AC:app_ppm_conf_tc=1
[I 17:17:00.148] AC:app_ppm_conf_tc_max_diff=5000
[I 17:17:00.148] AC:app_adc_conf_ctrl_type=0
[I 17:17:00.148] AC:app_adc_conf_hyst=0.15
[I 17:17:00.148] AC:app_adc_conf_voltage_start=0.9
[I 17:17:00.148] AC:app_adc_conf_voltage_end=3
[I 17:17:00.148] AC:app_adc_conf_voltage_center=2
[I 17:17:00.148] AC:app_adc_conf_voltage2_start=0.9
[I 17:17:00.148] AC:app_adc_conf_voltage2_end=3
[I 17:17:00.148] AC:app_adc_conf_use_filter=1
[I 17:17:00.148] AC:app_adc_conf_safe_start=1
[I 17:17:00.148] AC:app_adc_conf_cc_button_inverted=0
[I 17:17:00.148] AC:app_adc_conf_rev_button_inverted=0
[I 17:17:00.148] AC:app_adc_conf_voltage_inverted=0
[I 17:17:00.148] AC:app_adc_conf_voltage2_inverted=0
[I 17:17:00.148] AC:app_adc_conf_throttle_exp=0
[I 17:17:00.148] AC:app_adc_conf_throttle_exp_brake=0
[I 17:17:00.148] AC:app_adc_conf_throttle_exp_mode=3
[I 17:17:00.148] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:17:00.148] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:17:00.149] AC:app_adc_conf_multi_esc=0
[I 17:17:00.149] AC:app_adc_conf_tc=0
[I 17:17:00.149] AC:app_adc_conf_tc_max_diff=5000
[I 17:17:00.149] AC:app_adc_conf_update_rate_hz=500
[I 17:17:00.149] AC:app_uart_baudrate=9600
[I 17:17:00.149] AC:app_chuk_conf_ctrl_type=1
[I 17:17:00.149] AC:app_chuk_conf_hyst=0.15
[I 17:17:00.149] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:17:00.149] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:17:00.149] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:17:00.149] AC:app_chuk_conf_throttle_exp=0
[I 17:17:00.149] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:17:00.149] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:17:00.149] AC:app_chuk_conf_multi_esc=0
[I 17:17:00.149] AC:app_chuk_conf_tc=0
[I 17:17:00.149] AC:app_chuk_conf_tc_max_diff=5000
[I 17:17:00.149] AC:app_nrf_conf_speed=2
[I 17:17:00.149] AC:app_nrf_conf_power=3
[I 17:17:00.149] AC:app_nrf_conf_crc_type=1
[I 17:17:00.149] AC:app_nrf_conf_retry_delay=0
[I 17:17:00.149] AC:app_nrf_conf_retries=3
[I 17:17:00.149] AC:app_nrf_conf_channel=76
[I 17:17:00.149] AC:app_nrf_conf_address=13027072
[I 17:17:00.149] AC:app_nrf_conf_send_crc_ack=1
[I 17:17:00.149] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:17:00.149] AC:ack_app_ppm_conf_cruise_left=0
[I 17:17:00.149] AC:ack_app_ppm_conf_cruise_right=0
[I 17:17:00.149] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:17:00.149] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:17:00.149] AC:ack_app_adc_conf_tc_offset=3000
[I 17:17:00.149] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:17:00.150] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:17:10.637] [confs] write()
[I 17:17:10.638] [confs] writeMotorConfiguration
[I 17:17:10.638] Ask.motorConfWrite()
[I 17:17:10.638] MC:pwm_mode=1
[I 17:17:10.639] MC:comm_mode=0
[I 17:17:10.639] MC:motor_type=2
[I 17:17:10.639] MC:sensor_mode=2
[I 17:17:10.639] MC:l_current_max=70
[I 17:17:10.639] MC:l_current_min=-70
[I 17:17:10.639] MC:l_in_current_max=35
[I 17:17:10.639] MC:l_in_current_min=-7
[I 17:17:10.639] MC:l_abs_current_max=130
[I 17:17:10.639] MC:l_min_erpm=-60000
[I 17:17:10.639] MC:l_max_erpm=49019.8
[I 17:17:10.639] MC:l_erpm_start=0.8
[I 17:17:10.640] MC:l_max_erpm_fbrake=300
[I 17:17:10.640] MC:l_max_erpm_fbrake_cc=1500
[I 17:17:10.640] MC:l_min_vin=6
[I 17:17:10.640] MC:l_max_vin=57
[I 17:17:10.640] MC:l_battery_cut_start=42
[I 17:17:10.640] MC:l_battery_cut_end=40
[I 17:17:10.640] MC:l_slow_abs_current=1
[I 17:17:10.640] MC:l_temp_fet_start=85
[I 17:17:10.640] MC:l_temp_fet_end=100
[I 17:17:10.641] MC:l_temp_motor_start=85
[I 17:17:10.641] MC:l_temp_motor_end=100
[I 17:17:10.641] MC:l_temp_accel_dec=0.1
[I 17:17:10.641] MC:l_min_duty=0.005
[I 17:17:10.641] MC:l_max_duty=0.95
[I 17:17:10.641] MC:l_watt_max=15000
[I 17:17:10.641] MC:l_watt_min=-15000
[I 17:17:10.641] MC:sl_min_erpm=150
[I 17:17:10.641] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:17:10.641] MC:sl_max_fullbreak_current_dir_change=10
[I 17:17:10.642] MC:sl_cycle_int_limit=62
[I 17:17:10.642] MC:sl_phase_advance_at_br=0.8
[I 17:17:10.642] MC:sl_cycle_int_rpm_br=80000
[I 17:17:10.642] MC:sl_bemf_coupling_k=600
[I 17:17:10.642] MC:hall_table_0=255
[I 17:17:10.642] MC:hall_table_1=1
[I 17:17:10.642] MC:hall_table_2=3
[I 17:17:10.642] MC:hall_table_3=2
[I 17:17:10.642] MC:hall_table_4=5
[I 17:17:10.642] MC:hall_table_5=6
[I 17:17:10.643] MC:hall_table_6=4
[I 17:17:10.643] MC:hall_table_7=255
[I 17:17:10.643] MC:hall_sl_erpm=2000
[I 17:17:10.643] MC:foc_current_kp=0.0044
[I 17:17:10.643] MC:foc_current_ki=13.95
[I 17:17:10.644] MC:foc_f_sw=20000
[I 17:17:10.644] MC:foc_dt_us=0.08
[I 17:17:10.644] MC:foc_encoder_inverted=0
[I 17:17:10.644] MC:foc_encoder_offset=180
[I 17:17:10.644] MC:foc_encoder_ratio=7
[I 17:17:10.644] MC:foc_sensor_mode=2
[I 17:17:10.644] MC:foc_pll_kp=2000
[I 17:17:10.644] MC:foc_pll_ki=40000
[I 17:17:10.644] MC:foc_motor_l=4.37e-06
[I 17:17:10.644] MC:foc_motor_r=0.0139
[I 17:17:10.645] MC:foc_motor_flux_linkage=0.004444
[I 17:17:10.645] MC:foc_observer_gain=5.064e+07
[I 17:17:10.645] MC:foc_observer_gain_slow=0.3
[I 17:17:10.645] MC:foc_duty_dowmramp_kp=10
[I 17:17:10.645] MC:foc_duty_dowmramp_ki=200
[I 17:17:10.645] MC:foc_openloop_rpm=400
[I 17:17:10.645] MC:foc_sl_openloop_hyst=0.1
[I 17:17:10.645] MC:foc_sl_openloop_time=0.1
[I 17:17:10.646] MC:foc_sl_d_current_duty=0
[I 17:17:10.646] MC:foc_sl_d_current_factor=0
[I 17:17:10.646] MC:foc_hall_table0=255
[I 17:17:10.646] MC:foc_hall_table1=86
[I 17:17:10.646] MC:foc_hall_table2=17
[I 17:17:10.646] MC:foc_hall_table3=56
[I 17:17:10.648] MC:foc_hall_table4=155
[I 17:17:10.648] MC:foc_hall_table5=119
[I 17:17:10.648] MC:foc_hall_table6=183
[I 17:17:10.648] MC:foc_hall_table7=255
[I 17:17:10.648] MC:foc_sl_erpm=2500
[I 17:17:10.648] MC:foc_sample_v0_v7=0
[I 17:17:10.648] MC:foc_sample_high_current=0
[I 17:17:10.648] MC:foc_sat_comp=0
[I 17:17:10.649] MC:foc_temp_comp=0
[I 17:17:10.649] MC:foc_temp_comp_base_temp=25
[I 17:17:10.649] MC:foc_current_filter_const=0.1
[I 17:17:10.649] MC:s_pid_kp=0.002
[I 17:17:10.649] MC:s_pid_ki=0.002
[I 17:17:10.649] MC:s_pid_kd=0
[I 17:17:10.649] MC:s_pid_kd_filter=0.2
[I 17:17:10.649] MC:s_pid_min_rpm=900
[I 17:17:10.650] MC:s_pid_allow_braking=1
[I 17:17:10.651] MC:p_pid_kp=0.03
[I 17:17:10.651] MC:p_pid_ki=0
[I 17:17:10.651] MC:p_pid_kd=0.0004
[I 17:17:10.651] MC:p_pid_kd_filter=0.2
[I 17:17:10.651] MC:p_pid_ang_div=1
[I 17:17:10.651] MC:cc_startup_boost_duty=0.01
[I 17:17:10.651] MC:cc_min_current=0.1
[I 17:17:10.651] MC:cc_gain=0.0046
[I 17:17:10.651] MC:cc_ramp_step_max=0.04
[I 17:17:10.651] MC:m_fault_stop_time_ms=500
[I 17:17:10.651] MC:m_duty_ramp_step=0.02
[I 17:17:10.651] MC:m_current_backoff_gain=0.5
[I 17:17:10.651] MC:m_encoder_counts=8192
[I 17:17:10.651] MC:m_sensor_port_mode=0
[I 17:17:10.651] MC:m_invert_direction=0
[I 17:17:10.651] MC:m_drv8301_oc_mode=0
[I 17:17:10.651] MC:m_drv8301_oc_adj=16
[I 17:17:10.651] MC:m_bldc_f_sw_min=3000
[I 17:17:10.651] MC:m_bldc_f_sw_max=40000
[I 17:17:10.651] MC:m_dc_f_sw=35000
[I 17:17:10.651] MC:m_ntc_motor_beta=3380
[I 17:17:11.187] Stopping configurations timer
[I 17:17:11.190] [confs] SET_MCCONF reply currentId=0
[I 17:17:11.191] Ask.appConfWrite()
[I 17:17:11.191] AC:controller_id=0
[I 17:17:11.191] AC:timeout_msec=1000
[I 17:17:11.191] AC:timeout_brake_current=0
[I 17:17:11.191] AC:send_can_status=1
[I 17:17:11.191] AC:send_can_status_rate_hz=200
[I 17:17:11.191] AC:can_baud_rate=2
[I 17:17:11.191] AC:app_to_use=4
[I 17:17:11.191] AC:ack_app_ppm_conf_ctrl_type=4
[I 17:17:11.192] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:17:11.192] AC:app_ppm_conf_hyst=0.15
[I 17:17:11.192] AC:app_ppm_conf_pulse_start=1.145
[I 17:17:11.192] AC:app_ppm_conf_pulse_end=1.938
[I 17:17:11.192] AC:app_ppm_conf_pulse_center=1.538
[I 17:17:11.192] AC:app_ppm_conf_median_filter=1
[I 17:17:11.192] AC:app_ppm_conf_safe_start=1
[I 17:17:11.192] AC:app_ppm_conf_throttle_exp=0.85
[I 17:17:11.192] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:17:11.192] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:17:11.192] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:17:11.193] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:17:11.193] AC:app_ppm_conf_multi_esc=1
[I 17:17:11.193] AC:app_ppm_conf_tc=1
[I 17:17:11.193] AC:app_ppm_conf_tc_max_diff=5000
[I 17:17:11.193] AC:app_adc_conf_ctrl_type=0
[I 17:17:11.193] AC:app_adc_conf_hyst=0.15
[I 17:17:11.193] AC:app_adc_conf_voltage_start=0.9
[I 17:17:11.193] AC:app_adc_conf_voltage_end=3
[I 17:17:11.193] AC:app_adc_conf_voltage_center=2
[I 17:17:11.193] AC:app_adc_conf_voltage2_start=0.9
[I 17:17:11.193] AC:app_adc_conf_voltage2_end=3
[I 17:17:11.193] AC:app_adc_conf_use_filter=1
[I 17:17:11.193] AC:app_adc_conf_safe_start=1
[I 17:17:11.193] AC:app_adc_conf_cc_button_inverted=0
[I 17:17:11.194] AC:app_adc_conf_rev_button_inverted=0
[I 17:17:11.194] AC:app_adc_conf_voltage_inverted=0
[I 17:17:11.194] AC:app_adc_conf_voltage2_inverted=0
[I 17:17:11.194] AC:app_adc_conf_throttle_exp=0
[I 17:17:11.194] AC:app_adc_conf_throttle_exp_brake=0
[I 17:17:11.194] AC:app_adc_conf_throttle_exp_mode=3
[I 17:17:11.194] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:17:11.194] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:17:11.194] AC:app_adc_conf_multi_esc=0
[I 17:17:11.194] AC:app_adc_conf_tc=0
[I 17:17:11.194] AC:app_adc_conf_tc_max_diff=5000
[I 17:17:11.194] AC:app_adc_conf_update_rate_hz=500
[I 17:17:11.194] AC:app_uart_baudrate=115200
[I 17:17:11.194] AC:app_chuk_conf_ctrl_type=1
[I 17:17:11.194] AC:app_chuk_conf_hyst=0.15
[I 17:17:11.194] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:17:11.194] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:17:11.194] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:17:11.194] AC:app_chuk_conf_throttle_exp=0
[I 17:17:11.194] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:17:11.195] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:17:11.195] AC:app_chuk_conf_multi_esc=0
[I 17:17:11.195] AC:app_chuk_conf_tc=0
[I 17:17:11.195] AC:app_chuk_conf_tc_max_diff=5000
[I 17:17:11.195] AC:app_nrf_conf_speed=2
[I 17:17:11.195] AC:app_nrf_conf_power=3
[I 17:17:11.195] AC:app_nrf_conf_crc_type=1
[I 17:17:11.195] AC:app_nrf_conf_retry_delay=0
[I 17:17:11.195] AC:app_nrf_conf_retries=3
[I 17:17:11.195] AC:app_nrf_conf_channel=76
[I 17:17:11.195] AC:app_nrf_conf_address=13027072
[I 17:17:11.195] AC:app_nrf_conf_send_crc_ack=1
[I 17:17:11.195] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:17:11.195] AC:ack_app_ppm_conf_cruise_left=0
[I 17:17:11.195] AC:ack_app_ppm_conf_cruise_right=0
[I 17:17:11.195] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:17:11.195] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:17:11.195] AC:ack_app_adc_conf_tc_offset=3000
[I 17:17:11.196] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:17:11.196] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:17:11.671] Stopping configurations timer
[I 17:17:11.673] [confs] SET_APPCONF reply currentId=0
[I 17:17:11.674] [confs] writeMotorConfiguration
[I 17:17:11.675] Ask.motorConfWrite()
[I 17:17:11.675] MC:pwm_mode=1
[I 17:17:11.675] MC:comm_mode=0
[I 17:17:11.675] MC:motor_type=2
[I 17:17:11.675] MC:sensor_mode=2
[I 17:17:11.675] MC:l_current_max=70
[I 17:17:11.675] MC:l_current_min=-70
[I 17:17:11.675] MC:l_in_current_max=35
[I 17:17:11.675] MC:l_in_current_min=-7
[I 17:17:11.675] MC:l_abs_current_max=130
[I 17:17:11.675] MC:l_min_erpm=-60000
[I 17:17:11.675] MC:l_max_erpm=49019.8
[I 17:17:11.676] MC:l_erpm_start=0.8
[I 17:17:11.676] MC:l_max_erpm_fbrake=300
[I 17:17:11.676] MC:l_max_erpm_fbrake_cc=1500
[I 17:17:11.676] MC:l_min_vin=6
[I 17:17:11.676] MC:l_max_vin=57
[I 17:17:11.676] MC:l_battery_cut_start=42
[I 17:17:11.676] MC:l_battery_cut_end=40
[I 17:17:11.676] MC:l_slow_abs_current=1
[I 17:17:11.676] MC:l_temp_fet_start=85
[I 17:17:11.676] MC:l_temp_fet_end=100
[I 17:17:11.676] MC:l_temp_motor_start=85
[I 17:17:11.676] MC:l_temp_motor_end=100
[I 17:17:11.676] MC:l_temp_accel_dec=0.1
[I 17:17:11.676] MC:l_min_duty=0.005
[I 17:17:11.676] MC:l_max_duty=0.95
[I 17:17:11.677] MC:l_watt_max=15000
[I 17:17:11.677] MC:l_watt_min=-15000
[I 17:17:11.677] MC:sl_min_erpm=150
[I 17:17:11.677] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:17:11.677] MC:sl_max_fullbreak_current_dir_change=10
[I 17:17:11.677] MC:sl_cycle_int_limit=62
[I 17:17:11.677] MC:sl_phase_advance_at_br=0.8
[I 17:17:11.677] MC:sl_cycle_int_rpm_br=80000
[I 17:17:11.677] MC:sl_bemf_coupling_k=600
[I 17:17:11.677] MC:hall_table_0=255
[I 17:17:11.677] MC:hall_table_1=1
[I 17:17:11.677] MC:hall_table_2=3
[I 17:17:11.677] MC:hall_table_3=2
[I 17:17:11.677] MC:hall_table_4=5
[I 17:17:11.678] MC:hall_table_5=6
[I 17:17:11.678] MC:hall_table_6=4
[I 17:17:11.678] MC:hall_table_7=255
[I 17:17:11.678] MC:hall_sl_erpm=2000
[I 17:17:11.678] MC:foc_current_kp=0.005
[I 17:17:11.678] MC:foc_current_ki=13.65
[I 17:17:11.678] MC:foc_f_sw=20000
[I 17:17:11.678] MC:foc_dt_us=0.08
[I 17:17:11.678] MC:foc_encoder_inverted=0
[I 17:17:11.678] MC:foc_encoder_offset=180
[I 17:17:11.678] MC:foc_encoder_ratio=7
[I 17:17:11.678] MC:foc_sensor_mode=2
[I 17:17:11.678] MC:foc_pll_kp=2000
[I 17:17:11.678] MC:foc_pll_ki=40000
[I 17:17:11.678] MC:foc_motor_l=4.96e-06
[I 17:17:11.678] MC:foc_motor_r=0.0137
[I 17:17:11.678] MC:foc_motor_flux_linkage=0.004425
[I 17:17:11.679] MC:foc_observer_gain=5.107e+07
[I 17:17:11.679] MC:foc_observer_gain_slow=0.3
[I 17:17:11.679] MC:foc_duty_dowmramp_kp=10
[I 17:17:11.679] MC:foc_duty_dowmramp_ki=200
[I 17:17:11.679] MC:foc_openloop_rpm=400
[I 17:17:11.679] MC:foc_sl_openloop_hyst=0.1
[I 17:17:11.679] MC:foc_sl_openloop_time=0.1
[I 17:17:11.679] MC:foc_sl_d_current_duty=0
[I 17:17:11.679] MC:foc_sl_d_current_factor=0
[I 17:17:11.679] MC:foc_hall_table0=255
[I 17:17:11.679] MC:foc_hall_table1=52
[I 17:17:11.679] MC:foc_hall_table2=115
[I 17:17:11.679] MC:foc_hall_table3=82
[I 17:17:11.679] MC:foc_hall_table4=179
[I 17:17:11.679] MC:foc_hall_table5=15
[I 17:17:11.679] MC:foc_hall_table6=149
[I 17:17:11.680] MC:foc_hall_table7=255
[I 17:17:11.680] MC:foc_sl_erpm=2500
[I 17:17:11.680] MC:foc_sample_v0_v7=0
[I 17:17:11.680] MC:foc_sample_high_current=0
[I 17:17:11.680] MC:foc_sat_comp=0
[I 17:17:11.680] MC:foc_temp_comp=0
[I 17:17:11.680] MC:foc_temp_comp_base_temp=25
[I 17:17:11.680] MC:foc_current_filter_const=0.1
[I 17:17:11.680] MC:s_pid_kp=0.002
[I 17:17:11.681] MC:s_pid_ki=0.002
[I 17:17:11.681] MC:s_pid_kd=0
[I 17:17:11.681] MC:s_pid_kd_filter=0.2
[I 17:17:11.681] MC:s_pid_min_rpm=900
[I 17:17:11.681] MC:s_pid_allow_braking=1
[I 17:17:11.681] MC:p_pid_kp=0.03
[I 17:17:11.681] MC:p_pid_ki=0
[I 17:17:11.681] MC:p_pid_kd=0.0004
[I 17:17:11.681] MC:p_pid_kd_filter=0.2
[I 17:17:11.681] MC:p_pid_ang_div=1
[I 17:17:11.681] MC:cc_startup_boost_duty=0.01
[I 17:17:11.681] MC:cc_min_current=0.1
[I 17:17:11.681] MC:cc_gain=0.0046
[I 17:17:11.681] MC:cc_ramp_step_max=0.04
[I 17:17:11.681] MC:m_fault_stop_time_ms=500
[I 17:17:11.682] MC:m_duty_ramp_step=0.02
[I 17:17:11.682] MC:m_current_backoff_gain=0.5
[I 17:17:11.682] MC:m_encoder_counts=8192
[I 17:17:11.682] MC:m_sensor_port_mode=0
[I 17:17:11.683] MC:m_invert_direction=0
[I 17:17:11.683] MC:m_drv8301_oc_mode=0
[I 17:17:11.683] MC:m_drv8301_oc_adj=16
[I 17:17:11.683] MC:m_bldc_f_sw_min=3000
[I 17:17:11.683] MC:m_bldc_f_sw_max=40000
[I 17:17:11.683] MC:m_dc_f_sw=35000
[I 17:17:11.683] MC:m_ntc_motor_beta=3380
[I 17:17:12.305] Stopping configurations timer
[I 17:17:12.308] [confs] SET_MCCONF reply currentId=1
[I 17:17:12.308] Ask.appConfWrite()
[I 17:17:12.308] AC:controller_id=1
[I 17:17:12.308] AC:timeout_msec=1000
[I 17:17:12.309] AC:timeout_brake_current=0
[I 17:17:12.309] AC:send_can_status=1
[I 17:17:12.309] AC:send_can_status_rate_hz=200
[I 17:17:12.309] AC:can_baud_rate=2
[I 17:17:12.309] AC:app_to_use=3
[I 17:17:12.309] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:17:12.309] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:17:12.309] AC:app_ppm_conf_hyst=0.15
[I 17:17:12.309] AC:app_ppm_conf_pulse_start=1.145
[I 17:17:12.309] AC:app_ppm_conf_pulse_end=1.938
[I 17:17:12.309] AC:app_ppm_conf_pulse_center=1.538
[I 17:17:12.309] AC:app_ppm_conf_median_filter=1
[I 17:17:12.309] AC:app_ppm_conf_safe_start=1
[I 17:17:12.309] AC:app_ppm_conf_throttle_exp=0.5
[I 17:17:12.309] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:17:12.309] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:17:12.309] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:17:12.310] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:17:12.311] AC:app_ppm_conf_multi_esc=1
[I 17:17:12.311] AC:app_ppm_conf_tc=1
[I 17:17:12.311] AC:app_ppm_conf_tc_max_diff=5000
[I 17:17:12.311] AC:app_adc_conf_ctrl_type=0
[I 17:17:12.311] AC:app_adc_conf_hyst=0.15
[I 17:17:12.311] AC:app_adc_conf_voltage_start=0.9
[I 17:17:12.311] AC:app_adc_conf_voltage_end=3
[I 17:17:12.311] AC:app_adc_conf_voltage_center=2
[I 17:17:12.311] AC:app_adc_conf_voltage2_start=0.9
[I 17:17:12.311] AC:app_adc_conf_voltage2_end=3
[I 17:17:12.311] AC:app_adc_conf_use_filter=1
[I 17:17:12.311] AC:app_adc_conf_safe_start=1
[I 17:17:12.311] AC:app_adc_conf_cc_button_inverted=0
[I 17:17:12.311] AC:app_adc_conf_rev_button_inverted=0
[I 17:17:12.311] AC:app_adc_conf_voltage_inverted=0
[I 17:17:12.311] AC:app_adc_conf_voltage2_inverted=0
[I 17:17:12.311] AC:app_adc_conf_throttle_exp=0
[I 17:17:12.311] AC:app_adc_conf_throttle_exp_brake=0
[I 17:17:12.311] AC:app_adc_conf_throttle_exp_mode=3
[I 17:17:12.311] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:17:12.311] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:17:12.311] AC:app_adc_conf_multi_esc=0
[I 17:17:12.311] AC:app_adc_conf_tc=0
[I 17:17:12.311] AC:app_adc_conf_tc_max_diff=5000
[I 17:17:12.311] AC:app_adc_conf_update_rate_hz=500
[I 17:17:12.311] AC:app_uart_baudrate=9600
[I 17:17:12.311] AC:app_chuk_conf_ctrl_type=1
[I 17:17:12.311] AC:app_chuk_conf_hyst=0.15
[I 17:17:12.311] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:17:12.311] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:17:12.311] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:17:12.311] AC:app_chuk_conf_throttle_exp=0
[I 17:17:12.311] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:17:12.311] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:17:12.311] AC:app_chuk_conf_multi_esc=0
[I 17:17:12.311] AC:app_chuk_conf_tc=0
[I 17:17:12.311] AC:app_chuk_conf_tc_max_diff=5000
[I 17:17:12.311] AC:app_nrf_conf_speed=2
[I 17:17:12.311] AC:app_nrf_conf_power=3
[I 17:17:12.311] AC:app_nrf_conf_crc_type=1
[I 17:17:12.311] AC:app_nrf_conf_retry_delay=0
[I 17:17:12.311] AC:app_nrf_conf_retries=3
[I 17:17:12.311] AC:app_nrf_conf_channel=76
[I 17:17:12.311] AC:app_nrf_conf_address=13027072
[I 17:17:12.311] AC:app_nrf_conf_send_crc_ack=1
[I 17:17:12.311] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:17:12.311] AC:ack_app_ppm_conf_cruise_left=0
[I 17:17:12.311] AC:ack_app_ppm_conf_cruise_right=0
[I 17:17:12.311] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:17:12.311] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:17:12.311] AC:ack_app_adc_conf_tc_offset=3000
[I 17:17:12.311] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:17:12.311] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:17:12.807] Stopping configurations timer
[I 17:17:12.810] [confs] SET_APPCONF reply currentId=1
[I 17:17:42.005] [confs] write()
[I 17:17:42.006] [confs] writeMotorConfiguration
[I 17:17:42.006] Ask.motorConfWrite()
[I 17:17:42.006] MC:pwm_mode=1
[I 17:17:42.006] MC:comm_mode=0
[I 17:17:42.007] MC:motor_type=2
[I 17:17:42.007] MC:sensor_mode=2
[I 17:17:42.007] MC:l_current_max=70
[I 17:17:42.007] MC:l_current_min=-70
[I 17:17:42.007] MC:l_in_current_max=35
[I 17:17:42.007] MC:l_in_current_min=-7
[I 17:17:42.007] MC:l_abs_current_max=130
[I 17:17:42.007] MC:l_min_erpm=-60000
[I 17:17:42.007] MC:l_max_erpm=49019.8
[I 17:17:42.007] MC:l_erpm_start=0.8
[I 17:17:42.007] MC:l_max_erpm_fbrake=300
[I 17:17:42.007] MC:l_max_erpm_fbrake_cc=1500
[I 17:17:42.007] MC:l_min_vin=6
[I 17:17:42.007] MC:l_max_vin=57
[I 17:17:42.007] MC:l_battery_cut_start=42
[I 17:17:42.007] MC:l_battery_cut_end=40
[I 17:17:42.007] MC:l_slow_abs_current=1
[I 17:17:42.008] MC:l_temp_fet_start=85
[I 17:17:42.008] MC:l_temp_fet_end=100
[I 17:17:42.008] MC:l_temp_motor_start=85
[I 17:17:42.008] MC:l_temp_motor_end=100
[I 17:17:42.008] MC:l_temp_accel_dec=0.1
[I 17:17:42.008] MC:l_min_duty=0.005
[I 17:17:42.008] MC:l_max_duty=0.95
[I 17:17:42.008] MC:l_watt_max=15000
[I 17:17:42.008] MC:l_watt_min=-15000
[I 17:17:42.008] MC:sl_min_erpm=150
[I 17:17:42.008] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:17:42.008] MC:sl_max_fullbreak_current_dir_change=10
[I 17:17:42.008] MC:sl_cycle_int_limit=62
[I 17:17:42.008] MC:sl_phase_advance_at_br=0.8
[I 17:17:42.008] MC:sl_cycle_int_rpm_br=80000
[I 17:17:42.008] MC:sl_bemf_coupling_k=600
[I 17:17:42.008] MC:hall_table_0=255
[I 17:17:42.009] MC:hall_table_1=1
[I 17:17:42.009] MC:hall_table_2=3
[I 17:17:42.009] MC:hall_table_3=2
[I 17:17:42.009] MC:hall_table_4=5
[I 17:17:42.009] MC:hall_table_5=6
[I 17:17:42.009] MC:hall_table_6=4
[I 17:17:42.009] MC:hall_table_7=255
[I 17:17:42.009] MC:hall_sl_erpm=2000
[I 17:17:42.009] MC:foc_current_kp=0.0044
[I 17:17:42.009] MC:foc_current_ki=13.95
[I 17:17:42.009] MC:foc_f_sw=20000
[I 17:17:42.009] MC:foc_dt_us=0.08
[I 17:17:42.009] MC:foc_encoder_inverted=0
[I 17:17:42.009] MC:foc_encoder_offset=180
[I 17:17:42.009] MC:foc_encoder_ratio=7
[I 17:17:42.009] MC:foc_sensor_mode=2
[I 17:17:42.009] MC:foc_pll_kp=2000
[I 17:17:42.009] MC:foc_pll_ki=40000
[I 17:17:42.011] MC:foc_motor_l=4.37e-06
[I 17:17:42.011] MC:foc_motor_r=0.0139
[I 17:17:42.011] MC:foc_motor_flux_linkage=0.004444
[I 17:17:42.011] MC:foc_observer_gain=5.064e+07
[I 17:17:42.011] MC:foc_observer_gain_slow=0.3
[I 17:17:42.011] MC:foc_duty_dowmramp_kp=10
[I 17:17:42.011] MC:foc_duty_dowmramp_ki=200
[I 17:17:42.011] MC:foc_openloop_rpm=400
[I 17:17:42.011] MC:foc_sl_openloop_hyst=0.1
[I 17:17:42.011] MC:foc_sl_openloop_time=0.1
[I 17:17:42.011] MC:foc_sl_d_current_duty=0
[I 17:17:42.011] MC:foc_sl_d_current_factor=0
[I 17:17:42.011] MC:foc_hall_table0=255
[I 17:17:42.011] MC:foc_hall_table1=86
[I 17:17:42.011] MC:foc_hall_table2=17
[I 17:17:42.011] MC:foc_hall_table3=56
[I 17:17:42.011] MC:foc_hall_table4=155
[I 17:17:42.011] MC:foc_hall_table5=119
[I 17:17:42.011] MC:foc_hall_table6=183
[I 17:17:42.011] MC:foc_hall_table7=255
[I 17:17:42.011] MC:foc_sl_erpm=2500
[I 17:17:42.011] MC:foc_sample_v0_v7=0
[I 17:17:42.011] MC:foc_sample_high_current=0
[I 17:17:42.011] MC:foc_sat_comp=0
[I 17:17:42.011] MC:foc_temp_comp=0
[I 17:17:42.011] MC:foc_temp_comp_base_temp=25
[I 17:17:42.011] MC:foc_current_filter_const=0.1
[I 17:17:42.011] MC:s_pid_kp=0.002
[I 17:17:42.011] MC:s_pid_ki=0.002
[I 17:17:42.011] MC:s_pid_kd=0
[I 17:17:42.011] MC:s_pid_kd_filter=0.2
[I 17:17:42.011] MC:s_pid_min_rpm=900
[I 17:17:42.011] MC:s_pid_allow_braking=1
[I 17:17:42.011] MC:p_pid_kp=0.03
[I 17:17:42.011] MC:p_pid_ki=0
[I 17:17:42.011] MC:p_pid_kd=0.0004
[I 17:17:42.011] MC:p_pid_kd_filter=0.2
[I 17:17:42.011] MC:p_pid_ang_div=1
[I 17:17:42.011] MC:cc_startup_boost_duty=0.01
[I 17:17:42.011] MC:cc_min_current=0.1
[I 17:17:42.011] MC:cc_gain=0.0046
[I 17:17:42.011] MC:cc_ramp_step_max=0.04
[I 17:17:42.011] MC:m_fault_stop_time_ms=500
[I 17:17:42.011] MC:m_duty_ramp_step=0.02
[I 17:17:42.011] MC:m_current_backoff_gain=0.5
[I 17:17:42.011] MC:m_encoder_counts=8192
[I 17:17:42.011] MC:m_sensor_port_mode=0
[I 17:17:42.011] MC:m_invert_direction=0
[I 17:17:42.011] MC:m_drv8301_oc_mode=0
[I 17:17:42.012] MC:m_drv8301_oc_adj=16
[I 17:17:42.012] MC:m_bldc_f_sw_min=3000
[I 17:17:42.012] MC:m_bldc_f_sw_max=40000
[I 17:17:42.012] MC:m_dc_f_sw=35000
[I 17:17:42.012] MC:m_ntc_motor_beta=3380
[I 17:17:42.540] Stopping configurations timer
[I 17:17:42.542] [confs] SET_MCCONF reply currentId=0
[I 17:17:42.543] Ask.appConfWrite()
[I 17:17:42.543] AC:controller_id=0
[I 17:17:42.543] AC:timeout_msec=1000
[I 17:17:42.543] AC:timeout_brake_current=0
[I 17:17:42.543] AC:send_can_status=1
[I 17:17:42.543] AC:send_can_status_rate_hz=200
[I 17:17:42.543] AC:can_baud_rate=2
[I 17:17:42.543] AC:app_to_use=4
[I 17:17:42.543] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:17:42.543] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:17:42.543] AC:app_ppm_conf_hyst=0.15
[I 17:17:42.543] AC:app_ppm_conf_pulse_start=1.145
[I 17:17:42.543] AC:app_ppm_conf_pulse_end=1.938
[I 17:17:42.543] AC:app_ppm_conf_pulse_center=1.538
[I 17:17:42.543] AC:app_ppm_conf_median_filter=1
[I 17:17:42.543] AC:app_ppm_conf_safe_start=1
[I 17:17:42.543] AC:app_ppm_conf_throttle_exp=0.85
[I 17:17:42.543] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:17:42.544] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:17:42.544] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:17:42.544] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:17:42.544] AC:app_ppm_conf_multi_esc=1
[I 17:17:42.544] AC:app_ppm_conf_tc=1
[I 17:17:42.544] AC:app_ppm_conf_tc_max_diff=5000
[I 17:17:42.544] AC:app_adc_conf_ctrl_type=0
[I 17:17:42.544] AC:app_adc_conf_hyst=0.15
[I 17:17:42.544] AC:app_adc_conf_voltage_start=0.9
[I 17:17:42.544] AC:app_adc_conf_voltage_end=3
[I 17:17:42.544] AC:app_adc_conf_voltage_center=2
[I 17:17:42.544] AC:app_adc_conf_voltage2_start=0.9
[I 17:17:42.544] AC:app_adc_conf_voltage2_end=3
[I 17:17:42.544] AC:app_adc_conf_use_filter=1
[I 17:17:42.544] AC:app_adc_conf_safe_start=1
[I 17:17:42.544] AC:app_adc_conf_cc_button_inverted=0
[I 17:17:42.544] AC:app_adc_conf_rev_button_inverted=0
[I 17:17:42.544] AC:app_adc_conf_voltage_inverted=0
[I 17:17:42.544] AC:app_adc_conf_voltage2_inverted=0
[I 17:17:42.544] AC:app_adc_conf_throttle_exp=0
[I 17:17:42.544] AC:app_adc_conf_throttle_exp_brake=0
[I 17:17:42.544] AC:app_adc_conf_throttle_exp_mode=3
[I 17:17:42.544] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:17:42.544] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:17:42.545] AC:app_adc_conf_multi_esc=0
[I 17:17:42.545] AC:app_adc_conf_tc=0
[I 17:17:42.545] AC:app_adc_conf_tc_max_diff=5000
[I 17:17:42.545] AC:app_adc_conf_update_rate_hz=500
[I 17:17:42.545] AC:app_uart_baudrate=115200
[I 17:17:42.545] AC:app_chuk_conf_ctrl_type=1
[I 17:17:42.545] AC:app_chuk_conf_hyst=0.15
[I 17:17:42.545] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:17:42.545] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:17:42.545] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:17:42.545] AC:app_chuk_conf_throttle_exp=0
[I 17:17:42.545] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:17:42.545] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:17:42.545] AC:app_chuk_conf_multi_esc=0
[I 17:17:42.545] AC:app_chuk_conf_tc=0
[I 17:17:42.545] AC:app_chuk_conf_tc_max_diff=5000
[I 17:17:42.545] AC:app_nrf_conf_speed=2
[I 17:17:42.545] AC:app_nrf_conf_power=3
[I 17:17:42.545] AC:app_nrf_conf_crc_type=1
[I 17:17:42.546] AC:app_nrf_conf_retry_delay=0
[I 17:17:42.546] AC:app_nrf_conf_retries=3
[I 17:17:42.546] AC:app_nrf_conf_channel=76
[I 17:17:42.546] AC:app_nrf_conf_address=13027072
[I 17:17:42.546] AC:app_nrf_conf_send_crc_ack=1
[I 17:17:42.546] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:17:42.546] AC:ack_app_ppm_conf_cruise_left=0
[I 17:17:42.546] AC:ack_app_ppm_conf_cruise_right=0
[I 17:17:42.546] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:17:42.546] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:17:42.546] AC:ack_app_adc_conf_tc_offset=3000
[I 17:17:42.546] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:17:42.546] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:17:42.990] Stopping configurations timer
[I 17:17:42.992] [confs] SET_APPCONF reply currentId=0
[I 17:17:42.993] [confs] writeMotorConfiguration
[I 17:17:42.993] Ask.motorConfWrite()
[I 17:17:42.993] MC:pwm_mode=1
[I 17:17:42.994] MC:comm_mode=0
[I 17:17:42.994] MC:motor_type=2
[I 17:17:42.994] MC:sensor_mode=2
[I 17:17:42.994] MC:l_current_max=70
[I 17:17:42.994] MC:l_current_min=-70
[I 17:17:42.994] MC:l_in_current_max=35
[I 17:17:42.994] MC:l_in_current_min=-7
[I 17:17:42.994] MC:l_abs_current_max=130
[I 17:17:42.994] MC:l_min_erpm=-60000
[I 17:17:42.994] MC:l_max_erpm=49019.8
[I 17:17:42.994] MC:l_erpm_start=0.8
[I 17:17:42.994] MC:l_max_erpm_fbrake=300
[I 17:17:42.994] MC:l_max_erpm_fbrake_cc=1500
[I 17:17:42.995] MC:l_min_vin=6
[I 17:17:42.995] MC:l_max_vin=57
[I 17:17:42.995] MC:l_battery_cut_start=42
[I 17:17:42.995] MC:l_battery_cut_end=40
[I 17:17:42.995] MC:l_slow_abs_current=1
[I 17:17:42.995] MC:l_temp_fet_start=85
[I 17:17:42.995] MC:l_temp_fet_end=100
[I 17:17:42.995] MC:l_temp_motor_start=85
[I 17:17:42.995] MC:l_temp_motor_end=100
[I 17:17:42.995] MC:l_temp_accel_dec=0.1
[I 17:17:42.995] MC:l_min_duty=0.005
[I 17:17:42.995] MC:l_max_duty=0.95
[I 17:17:42.995] MC:l_watt_max=15000
[I 17:17:42.995] MC:l_watt_min=-15000
[I 17:17:42.996] MC:sl_min_erpm=150
[I 17:17:42.996] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:17:42.996] MC:sl_max_fullbreak_current_dir_change=10
[I 17:17:42.996] MC:sl_cycle_int_limit=62
[I 17:17:42.996] MC:sl_phase_advance_at_br=0.8
[I 17:17:42.996] MC:sl_cycle_int_rpm_br=80000
[I 17:17:42.996] MC:sl_bemf_coupling_k=600
[I 17:17:42.996] MC:hall_table_0=255
[I 17:17:42.996] MC:hall_table_1=1
[I 17:17:42.996] MC:hall_table_2=3
[I 17:17:42.996] MC:hall_table_3=2
[I 17:17:42.996] MC:hall_table_4=5
[I 17:17:42.996] MC:hall_table_5=6
[I 17:17:42.996] MC:hall_table_6=4
[I 17:17:42.997] MC:hall_table_7=255
[I 17:17:42.997] MC:hall_sl_erpm=2000
[I 17:17:42.997] MC:foc_current_kp=0.005
[I 17:17:42.997] MC:foc_current_ki=13.65
[I 17:17:42.997] MC:foc_f_sw=20000
[I 17:17:42.997] MC:foc_dt_us=0.08
[I 17:17:42.997] MC:foc_encoder_inverted=0
[I 17:17:42.997] MC:foc_encoder_offset=180
[I 17:17:42.997] MC:foc_encoder_ratio=7
[I 17:17:42.997] MC:foc_sensor_mode=2
[I 17:17:42.997] MC:foc_pll_kp=2000
[I 17:17:42.997] MC:foc_pll_ki=40000
[I 17:17:42.997] MC:foc_motor_l=4.96e-06
[I 17:17:42.997] MC:foc_motor_r=0.0137
[I 17:17:42.998] MC:foc_motor_flux_linkage=0.004425
[I 17:17:42.998] MC:foc_observer_gain=5.107e+07
[I 17:17:42.998] MC:foc_observer_gain_slow=0.3
[I 17:17:42.998] MC:foc_duty_dowmramp_kp=10
[I 17:17:42.998] MC:foc_duty_dowmramp_ki=200
[I 17:17:42.998] MC:foc_openloop_rpm=400
[I 17:17:42.998] MC:foc_sl_openloop_hyst=0.1
[I 17:17:42.998] MC:foc_sl_openloop_time=0.1
[I 17:17:42.998] MC:foc_sl_d_current_duty=0
[I 17:17:42.998] MC:foc_sl_d_current_factor=0
[I 17:17:42.998] MC:foc_hall_table0=255
[I 17:17:42.998] MC:foc_hall_table1=52
[I 17:17:42.998] MC:foc_hall_table2=115
[I 17:17:42.998] MC:foc_hall_table3=82
[I 17:17:42.998] MC:foc_hall_table4=179
[I 17:17:42.999] MC:foc_hall_table5=15
[I 17:17:42.999] MC:foc_hall_table6=149
[I 17:17:42.999] MC:foc_hall_table7=255
[I 17:17:42.999] MC:foc_sl_erpm=2500
[I 17:17:42.999] MC:foc_sample_v0_v7=0
[I 17:17:42.999] MC:foc_sample_high_current=0
[I 17:17:42.999] MC:foc_sat_comp=0
[I 17:17:42.999] MC:foc_temp_comp=0
[I 17:17:42.999] MC:foc_temp_comp_base_temp=25
[I 17:17:42.999] MC:foc_current_filter_const=0.1
[I 17:17:42.999] MC:s_pid_kp=0.002
[I 17:17:43.000] MC:s_pid_ki=0.002
[I 17:17:43.000] MC:s_pid_kd=0
[I 17:17:43.000] MC:s_pid_kd_filter=0.2
[I 17:17:43.000] MC:s_pid_min_rpm=900
[I 17:17:43.000] MC:s_pid_allow_braking=1
[I 17:17:43.000] MC:p_pid_kp=0.03
[I 17:17:43.000] MC:p_pid_ki=0
[I 17:17:43.000] MC:p_pid_kd=0.0004
[I 17:17:43.000] MC:p_pid_kd_filter=0.2
[I 17:17:43.000] MC:p_pid_ang_div=1
[I 17:17:43.001] MC:cc_startup_boost_duty=0.01
[I 17:17:43.001] MC:cc_min_current=0.1
[I 17:17:43.001] MC:cc_gain=0.0046
[I 17:17:43.001] MC:cc_ramp_step_max=0.04
[I 17:17:43.001] MC:m_fault_stop_time_ms=500
[I 17:17:43.001] MC:m_duty_ramp_step=0.02
[I 17:17:43.001] MC:m_current_backoff_gain=0.5
[I 17:17:43.001] MC:m_encoder_counts=8192
[I 17:17:43.001] MC:m_sensor_port_mode=0
[I 17:17:43.001] MC:m_invert_direction=0
[I 17:17:43.001] MC:m_drv8301_oc_mode=0
[I 17:17:43.001] MC:m_drv8301_oc_adj=16
[I 17:17:43.001] MC:m_bldc_f_sw_min=3000
[I 17:17:43.001] MC:m_bldc_f_sw_max=40000
[I 17:17:43.002] MC:m_dc_f_sw=35000
[I 17:17:43.002] MC:m_ntc_motor_beta=3380
[I 17:17:43.558] Stopping configurations timer
[I 17:17:43.561] [confs] SET_MCCONF reply currentId=1
[I 17:17:43.561] Ask.appConfWrite()
[I 17:17:43.561] AC:controller_id=1
[I 17:17:43.561] AC:timeout_msec=1000
[I 17:17:43.561] AC:timeout_brake_current=0
[I 17:17:43.561] AC:send_can_status=1
[I 17:17:43.562] AC:send_can_status_rate_hz=200
[I 17:17:43.562] AC:can_baud_rate=2
[I 17:17:43.562] AC:app_to_use=3
[I 17:17:43.562] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:17:43.562] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:17:43.562] AC:app_ppm_conf_hyst=0.15
[I 17:17:43.562] AC:app_ppm_conf_pulse_start=1.145
[I 17:17:43.562] AC:app_ppm_conf_pulse_end=1.938
[I 17:17:43.562] AC:app_ppm_conf_pulse_center=1.538
[I 17:17:43.562] AC:app_ppm_conf_median_filter=1
[I 17:17:43.562] AC:app_ppm_conf_safe_start=1
[I 17:17:43.562] AC:app_ppm_conf_throttle_exp=0.5
[I 17:17:43.562] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:17:43.562] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:17:43.562] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:17:43.562] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:17:43.562] AC:app_ppm_conf_multi_esc=1
[I 17:17:43.562] AC:app_ppm_conf_tc=1
[I 17:17:43.562] AC:app_ppm_conf_tc_max_diff=5000
[I 17:17:43.562] AC:app_adc_conf_ctrl_type=0
[I 17:17:43.563] AC:app_adc_conf_hyst=0.15
[I 17:17:43.563] AC:app_adc_conf_voltage_start=0.9
[I 17:17:43.563] AC:app_adc_conf_voltage_end=3
[I 17:17:43.563] AC:app_adc_conf_voltage_center=2
[I 17:17:43.563] AC:app_adc_conf_voltage2_start=0.9
[I 17:17:43.563] AC:app_adc_conf_voltage2_end=3
[I 17:17:43.563] AC:app_adc_conf_use_filter=1
[I 17:17:43.563] AC:app_adc_conf_safe_start=1
[I 17:17:43.563] AC:app_adc_conf_cc_button_inverted=0
[I 17:17:43.563] AC:app_adc_conf_rev_button_inverted=0
[I 17:17:43.563] AC:app_adc_conf_voltage_inverted=0
[I 17:17:43.563] AC:app_adc_conf_voltage2_inverted=0
[I 17:17:43.563] AC:app_adc_conf_throttle_exp=0
[I 17:17:43.563] AC:app_adc_conf_throttle_exp_brake=0
[I 17:17:43.563] AC:app_adc_conf_throttle_exp_mode=3
[I 17:17:43.563] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:17:43.563] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:17:43.563] AC:app_adc_conf_multi_esc=0
[I 17:17:43.563] AC:app_adc_conf_tc=0
[I 17:17:43.563] AC:app_adc_conf_tc_max_diff=5000
[I 17:17:43.563] AC:app_adc_conf_update_rate_hz=500
[I 17:17:43.563] AC:app_uart_baudrate=9600
[I 17:17:43.563] AC:app_chuk_conf_ctrl_type=1
[I 17:17:43.563] AC:app_chuk_conf_hyst=0.15
[I 17:17:43.563] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:17:43.564] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:17:43.564] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:17:43.564] AC:app_chuk_conf_throttle_exp=0
[I 17:17:43.564] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:17:43.564] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:17:43.564] AC:app_chuk_conf_multi_esc=0
[I 17:17:43.564] AC:app_chuk_conf_tc=0
[I 17:17:43.564] AC:app_chuk_conf_tc_max_diff=5000
[I 17:17:43.564] AC:app_nrf_conf_speed=2
[I 17:17:43.564] AC:app_nrf_conf_power=3
[I 17:17:43.564] AC:app_nrf_conf_crc_type=1
[I 17:17:43.564] AC:app_nrf_conf_retry_delay=0
[I 17:17:43.564] AC:app_nrf_conf_retries=3
[I 17:17:43.564] AC:app_nrf_conf_channel=76
[I 17:17:43.564] AC:app_nrf_conf_address=13027072
[I 17:17:43.564] AC:app_nrf_conf_send_crc_ack=1
[I 17:17:43.564] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:17:43.564] AC:ack_app_ppm_conf_cruise_left=0
[I 17:17:43.564] AC:ack_app_ppm_conf_cruise_right=0
[I 17:17:43.564] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:17:43.564] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:17:43.564] AC:ack_app_adc_conf_tc_offset=3000
[I 17:17:43.565] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:17:43.565] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:17:44.011] Stopping configurations timer
[I 17:17:44.063] [confs] SET_APPCONF reply currentId=1
[I 17:18:07.117] [mw] openRealtime
[I 17:18:07.117] [expert] exit
[I 17:18:07.118] Ask.startRt()
[I 17:18:07.126] [rt] enter
[I 17:18:07.169] Resetting rd.whDrawn=309.356, ar.prevWh=317.382, rd.whRegen=2.7439, ar.prevWhRegen=2.8474
[I 17:18:07.191] [mw] openRealtime
[E 17:19:01.888] Speed abnormal '-0.186251'
[E 17:20:12.180] Speed abnormal '-0.186251'
[I 17:21:19.470] [rt] exit
[I 17:21:19.480] [expert] enter
[I 17:21:19.480] Ask.stopRt()
[I 17:21:19.482] [expert] setup FW3.103
[I 17:21:19.483] [confs] Initializing 2 configuration containers
[I 17:21:19.483] createMotorConf FW 3.103
[I 17:21:19.484] createMotorConf FW 3.103
[I 17:21:19.485] [expert] tab deletage setup
[I 17:21:19.506] [expert] tab deletage setup
[I 17:21:19.518] [expert] tab deletage setup
[I 17:21:19.529] [expert] tab deletage setup
[I 17:21:19.540] [expert] selectedVESC=-1
[I 17:21:19.541] [expert] selectedVESC=0
[I 17:21:19.541] [expert] tab deletage setup
[I 17:21:19.541] [expert] tab deletage setup
[I 17:21:19.565] [expert] tab deletage setup
[I 17:21:19.565] [expert] tab deletage setup
[I 17:21:19.588] [confs] read()
[I 17:21:19.589] createMotorConf FW 3.103
[I 17:21:19.589] [confs] readMotorConfiguration
[I 17:21:19.589] Ask.motorConfGet()
[I 17:21:19.738] Stopping configurations timer
[I 17:21:19.738] [confs] GET_MCCONF reply currentId=0
[I 17:21:19.738] Ask.motorConfRead()
[I 17:21:19.738] [ask]: conf does not have signature
[I 17:21:19.738] MC:pwm_mode=1
[I 17:21:19.738] MC:comm_mode=0
[I 17:21:19.739] MC:motor_type=2
[I 17:21:19.739] MC:sensor_mode=2
[I 17:21:19.739] MC:l_current_max=70
[I 17:21:19.739] MC:l_current_min=-70
[I 17:21:19.739] MC:l_in_current_max=35
[I 17:21:19.739] MC:l_in_current_min=-7
[I 17:21:19.739] MC:l_abs_current_max=130
[I 17:21:19.739] MC:l_min_erpm=-60000
[I 17:21:19.739] MC:l_max_erpm=49019.8
[I 17:21:19.739] MC:l_erpm_start=0.8
[I 17:21:19.739] MC:l_max_erpm_fbrake=300
[I 17:21:19.739] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:19.739] MC:l_min_vin=6
[I 17:21:19.739] MC:l_max_vin=57
[I 17:21:19.739] MC:l_battery_cut_start=42
[I 17:21:19.739] MC:l_battery_cut_end=40
[I 17:21:19.739] MC:l_slow_abs_current=1
[I 17:21:19.739] MC:l_temp_fet_start=85
[I 17:21:19.739] MC:l_temp_fet_end=100
[I 17:21:19.739] MC:l_temp_motor_start=85
[I 17:21:19.739] MC:l_temp_motor_end=100
[I 17:21:19.739] MC:l_temp_accel_dec=0.1
[I 17:21:19.739] MC:l_min_duty=0.005
[I 17:21:19.739] MC:l_max_duty=0.95
[I 17:21:19.739] MC:l_watt_max=15000
[I 17:21:19.739] MC:l_watt_min=-15000
[I 17:21:19.739] MC:sl_min_erpm=150
[I 17:21:19.739] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:19.739] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:19.739] MC:sl_cycle_int_limit=62
[I 17:21:19.739] MC:sl_phase_advance_at_br=0.8
[I 17:21:19.739] MC:sl_cycle_int_rpm_br=80000
[I 17:21:19.739] MC:sl_bemf_coupling_k=600
[I 17:21:19.739] MC:hall_table_0=255
[I 17:21:19.739] MC:hall_table_1=1
[I 17:21:19.739] MC:hall_table_2=3
[I 17:21:19.739] MC:hall_table_3=2
[I 17:21:19.739] MC:hall_table_4=5
[I 17:21:19.740] MC:hall_table_5=6
[I 17:21:19.740] MC:hall_table_6=4
[I 17:21:19.740] MC:hall_table_7=255
[I 17:21:19.740] MC:hall_sl_erpm=2000
[I 17:21:19.740] MC:foc_current_kp=0.0044
[I 17:21:19.740] MC:foc_current_ki=13.95
[I 17:21:19.740] MC:foc_f_sw=20000
[I 17:21:19.740] MC:foc_dt_us=0.08
[I 17:21:19.740] MC:foc_encoder_inverted=0
[I 17:21:19.740] MC:foc_encoder_offset=180
[I 17:21:19.740] MC:foc_encoder_ratio=7
[I 17:21:19.740] MC:foc_sensor_mode=2
[I 17:21:19.740] MC:foc_pll_kp=2000
[I 17:21:19.740] MC:foc_pll_ki=40000
[I 17:21:19.740] MC:foc_motor_l=4.37e-06
[I 17:21:19.740] MC:foc_motor_r=0.0139
[I 17:21:19.740] MC:foc_motor_flux_linkage=0.004444
[I 17:21:19.740] MC:foc_observer_gain=5.064e+07
[I 17:21:19.740] MC:foc_observer_gain_slow=0.3
[I 17:21:19.740] MC:foc_duty_dowmramp_kp=10
[I 17:21:19.740] MC:foc_duty_dowmramp_ki=200
[I 17:21:19.740] MC:foc_openloop_rpm=400
[I 17:21:19.740] MC:foc_sl_openloop_hyst=0.1
[I 17:21:19.740] MC:foc_sl_openloop_time=0.1
[I 17:21:19.740] MC:foc_sl_d_current_duty=0
[I 17:21:19.740] MC:foc_sl_d_current_factor=0
[I 17:21:19.740] MC:foc_hall_table0=255
[I 17:21:19.740] MC:foc_hall_table1=86
[I 17:21:19.740] MC:foc_hall_table2=17
[I 17:21:19.740] MC:foc_hall_table3=56
[I 17:21:19.740] MC:foc_hall_table4=155
[I 17:21:19.740] MC:foc_hall_table5=119
[I 17:21:19.740] MC:foc_hall_table6=183
[I 17:21:19.740] MC:foc_hall_table7=255
[I 17:21:19.740] MC:foc_sl_erpm=2500
[I 17:21:19.740] MC:foc_sample_v0_v7=0
[I 17:21:19.740] MC:foc_sample_high_current=0
[I 17:21:19.740] MC:foc_sat_comp=0
[I 17:21:19.740] MC:foc_temp_comp=0
[I 17:21:19.740] MC:foc_temp_comp_base_temp=25
[I 17:21:19.740] MC:foc_current_filter_const=0.1
[I 17:21:19.740] MC:s_pid_kp=0.002
[I 17:21:19.740] MC:s_pid_ki=0.002
[I 17:21:19.740] MC:s_pid_kd=0
[I 17:21:19.740] MC:s_pid_kd_filter=0.2
[I 17:21:19.740] MC:s_pid_min_rpm=900
[I 17:21:19.740] MC:s_pid_allow_braking=1
[I 17:21:19.741] MC:p_pid_kp=0.03
[I 17:21:19.741] MC:p_pid_ki=0
[I 17:21:19.741] MC:p_pid_kd=0.0004
[I 17:21:19.741] MC:p_pid_kd_filter=0.2
[I 17:21:19.741] MC:p_pid_ang_div=1
[I 17:21:19.741] MC:cc_startup_boost_duty=0.01
[I 17:21:19.741] MC:cc_min_current=0.1
[I 17:21:19.741] MC:cc_gain=0.0046
[I 17:21:19.741] MC:cc_ramp_step_max=0.04
[I 17:21:19.741] MC:m_fault_stop_time_ms=500
[I 17:21:19.741] MC:m_duty_ramp_step=0.02
[I 17:21:19.741] MC:m_current_backoff_gain=0.5
[I 17:21:19.741] MC:m_encoder_counts=8192
[I 17:21:19.741] MC:m_sensor_port_mode=0
[I 17:21:19.741] MC:m_invert_direction=0
[I 17:21:19.741] MC:m_drv8301_oc_mode=0
[I 17:21:19.741] MC:m_drv8301_oc_adj=16
[I 17:21:19.741] MC:m_bldc_f_sw_min=3000
[I 17:21:19.741] MC:m_bldc_f_sw_max=40000
[I 17:21:19.741] MC:m_dc_f_sw=35000
[I 17:21:19.741] MC:m_ntc_motor_beta=3380
[I 17:21:19.741] [confs] readAppConfiguration
[I 17:21:19.741] Ask.appConfGet()
[I 17:21:19.801] Stopping configurations timer
[I 17:21:19.802] [confs] GET_APPCONF reply currentId=0
[I 17:21:19.802] Ask.appConfRead()
[I 17:21:19.802] [ask]: conf does not have signature
[I 17:21:19.802] AC:controller_id=0
[I 17:21:19.802] AC:timeout_msec=1000
[I 17:21:19.802] AC:timeout_brake_current=0
[I 17:21:19.802] AC:send_can_status=1
[I 17:21:19.802] AC:send_can_status_rate_hz=200
[I 17:21:19.802] AC:can_baud_rate=2
[I 17:21:19.802] AC:app_to_use=4
[I 17:21:19.803] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:21:19.805] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:19.805] AC:app_ppm_conf_hyst=0.15
[I 17:21:19.806] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:19.806] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:19.807] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:19.807] AC:app_ppm_conf_median_filter=1
[I 17:21:19.807] AC:app_ppm_conf_safe_start=1
[I 17:21:19.808] AC:app_ppm_conf_throttle_exp=0.85
[I 17:21:19.808] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:21:19.808] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:21:19.809] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:19.809] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:19.809] AC:app_ppm_conf_multi_esc=1
[I 17:21:19.810] AC:app_ppm_conf_tc=1
[I 17:21:19.810] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:19.810] AC:app_adc_conf_ctrl_type=0
[I 17:21:19.810] AC:app_adc_conf_hyst=0.15
[I 17:21:19.810] AC:app_adc_conf_voltage_start=0.9
[I 17:21:19.810] AC:app_adc_conf_voltage_end=3
[I 17:21:19.810] AC:app_adc_conf_voltage_center=2
[I 17:21:19.810] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:19.810] AC:app_adc_conf_voltage2_end=3
[I 17:21:19.810] AC:app_adc_conf_use_filter=1
[I 17:21:19.810] AC:app_adc_conf_safe_start=1
[I 17:21:19.810] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:19.810] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:19.810] AC:app_adc_conf_voltage_inverted=0
[I 17:21:19.810] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:19.810] AC:app_adc_conf_throttle_exp=0
[I 17:21:19.810] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:19.810] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:19.810] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:19.810] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:19.810] AC:app_adc_conf_multi_esc=0
[I 17:21:19.810] AC:app_adc_conf_tc=0
[I 17:21:19.810] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:19.810] AC:app_adc_conf_update_rate_hz=500
[I 17:21:19.811] AC:app_uart_baudrate=115200
[I 17:21:19.811] AC:app_chuk_conf_ctrl_type=1
[I 17:21:19.811] AC:app_chuk_conf_hyst=0.15
[I 17:21:19.811] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:19.811] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:19.811] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:19.811] AC:app_chuk_conf_throttle_exp=0
[I 17:21:19.811] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:19.811] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:19.811] AC:app_chuk_conf_multi_esc=0
[I 17:21:19.811] AC:app_chuk_conf_tc=0
[I 17:21:19.811] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:19.811] AC:app_nrf_conf_speed=2
[I 17:21:19.811] AC:app_nrf_conf_power=3
[I 17:21:19.811] AC:app_nrf_conf_crc_type=1
[I 17:21:19.811] AC:app_nrf_conf_retry_delay=0
[I 17:21:19.811] AC:app_nrf_conf_retries=3
[I 17:21:19.811] AC:app_nrf_conf_channel=76
[I 17:21:19.811] AC:app_nrf_conf_address=13027072
[I 17:21:19.811] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:19.811] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:19.811] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:19.811] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:19.811] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:19.811] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:19.811] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:19.811] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:19.811] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:19.811] [confs] readMotorConfiguration
[I 17:21:19.811] Ask.motorConfGet()
[I 17:21:20.020] Stopping configurations timer
[I 17:21:20.021] [confs] GET_MCCONF reply currentId=1
[I 17:21:20.021] Ask.motorConfRead()
[I 17:21:20.021] [ask]: conf does not have signature
[I 17:21:20.021] MC:pwm_mode=1
[I 17:21:20.021] MC:comm_mode=0
[I 17:21:20.022] MC:motor_type=2
[I 17:21:20.022] MC:sensor_mode=2
[I 17:21:20.022] MC:l_current_max=70
[I 17:21:20.022] MC:l_current_min=-70
[I 17:21:20.022] MC:l_in_current_max=35
[I 17:21:20.023] MC:l_in_current_min=-7
[I 17:21:20.023] MC:l_abs_current_max=130
[I 17:21:20.023] MC:l_min_erpm=-60000
[I 17:21:20.024] MC:l_max_erpm=49019.8
[I 17:21:20.024] MC:l_erpm_start=0.8
[I 17:21:20.024] MC:l_max_erpm_fbrake=300
[I 17:21:20.024] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:20.024] MC:l_min_vin=6
[I 17:21:20.025] MC:l_max_vin=57
[I 17:21:20.025] MC:l_battery_cut_start=42
[I 17:21:20.025] MC:l_battery_cut_end=40
[I 17:21:20.025] MC:l_slow_abs_current=1
[I 17:21:20.025] MC:l_temp_fet_start=85
[I 17:21:20.025] MC:l_temp_fet_end=100
[I 17:21:20.025] MC:l_temp_motor_start=85
[I 17:21:20.026] MC:l_temp_motor_end=100
[I 17:21:20.026] MC:l_temp_accel_dec=0.1
[I 17:21:20.026] MC:l_min_duty=0.005
[I 17:21:20.026] MC:l_max_duty=0.95
[I 17:21:20.026] MC:l_watt_max=15000
[I 17:21:20.027] MC:l_watt_min=-15000
[I 17:21:20.027] MC:sl_min_erpm=150
[I 17:21:20.027] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:20.027] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:20.027] MC:sl_cycle_int_limit=62
[I 17:21:20.027] MC:sl_phase_advance_at_br=0.8
[I 17:21:20.027] MC:sl_cycle_int_rpm_br=80000
[I 17:21:20.028] MC:sl_bemf_coupling_k=600
[I 17:21:20.028] MC:hall_table_0=255
[I 17:21:20.028] MC:hall_table_1=1
[I 17:21:20.028] MC:hall_table_2=3
[I 17:21:20.028] MC:hall_table_3=2
[I 17:21:20.028] MC:hall_table_4=5
[I 17:21:20.028] MC:hall_table_5=6
[I 17:21:20.028] MC:hall_table_6=4
[I 17:21:20.029] MC:hall_table_7=255
[I 17:21:20.029] MC:hall_sl_erpm=2000
[I 17:21:20.029] MC:foc_current_kp=0.005
[I 17:21:20.029] MC:foc_current_ki=13.65
[I 17:21:20.029] MC:foc_f_sw=20000
[I 17:21:20.029] MC:foc_dt_us=0.08
[I 17:21:20.029] MC:foc_encoder_inverted=0
[I 17:21:20.030] MC:foc_encoder_offset=180
[I 17:21:20.030] MC:foc_encoder_ratio=7
[I 17:21:20.030] MC:foc_sensor_mode=2
[I 17:21:20.030] MC:foc_pll_kp=2000
[I 17:21:20.030] MC:foc_pll_ki=40000
[I 17:21:20.031] MC:foc_motor_l=4.96e-06
[I 17:21:20.031] MC:foc_motor_r=0.0137
[I 17:21:20.031] MC:foc_motor_flux_linkage=0.004425
[I 17:21:20.031] MC:foc_observer_gain=5.107e+07
[I 17:21:20.031] MC:foc_observer_gain_slow=0.3
[I 17:21:20.031] MC:foc_duty_dowmramp_kp=10
[I 17:21:20.031] MC:foc_duty_dowmramp_ki=200
[I 17:21:20.031] MC:foc_openloop_rpm=400
[I 17:21:20.031] MC:foc_sl_openloop_hyst=0.1
[I 17:21:20.031] MC:foc_sl_openloop_time=0.1
[I 17:21:20.031] MC:foc_sl_d_current_duty=0
[I 17:21:20.031] MC:foc_sl_d_current_factor=0
[I 17:21:20.031] MC:foc_hall_table0=255
[I 17:21:20.031] MC:foc_hall_table1=52
[I 17:21:20.031] MC:foc_hall_table2=115
[I 17:21:20.031] MC:foc_hall_table3=82
[I 17:21:20.031] MC:foc_hall_table4=179
[I 17:21:20.031] MC:foc_hall_table5=15
[I 17:21:20.031] MC:foc_hall_table6=149
[I 17:21:20.031] MC:foc_hall_table7=255
[I 17:21:20.031] MC:foc_sl_erpm=2500
[I 17:21:20.031] MC:foc_sample_v0_v7=0
[I 17:21:20.031] MC:foc_sample_high_current=0
[I 17:21:20.031] MC:foc_sat_comp=0
[I 17:21:20.032] MC:foc_temp_comp=0
[I 17:21:20.032] MC:foc_temp_comp_base_temp=25
[I 17:21:20.032] MC:foc_current_filter_const=0.1
[I 17:21:20.032] MC:s_pid_kp=0.002
[I 17:21:20.032] MC:s_pid_ki=0.002
[I 17:21:20.032] MC:s_pid_kd=0
[I 17:21:20.032] MC:s_pid_kd_filter=0.2
[I 17:21:20.032] MC:s_pid_min_rpm=900
[I 17:21:20.032] MC:s_pid_allow_braking=1
[I 17:21:20.032] MC:p_pid_kp=0.03
[I 17:21:20.032] MC:p_pid_ki=0
[I 17:21:20.032] MC:p_pid_kd=0.0004
[I 17:21:20.032] MC:p_pid_kd_filter=0.2
[I 17:21:20.032] MC:p_pid_ang_div=1
[I 17:21:20.032] MC:cc_startup_boost_duty=0.01
[I 17:21:20.032] MC:cc_min_current=0.1
[I 17:21:20.032] MC:cc_gain=0.0046
[I 17:21:20.032] MC:cc_ramp_step_max=0.04
[I 17:21:20.032] MC:m_fault_stop_time_ms=500
[I 17:21:20.032] MC:m_duty_ramp_step=0.02
[I 17:21:20.032] MC:m_current_backoff_gain=0.5
[I 17:21:20.032] MC:m_encoder_counts=8192
[I 17:21:20.032] MC:m_sensor_port_mode=0
[I 17:21:20.032] MC:m_invert_direction=0
[I 17:21:20.032] MC:m_drv8301_oc_mode=0
[I 17:21:20.032] MC:m_drv8301_oc_adj=16
[I 17:21:20.032] MC:m_bldc_f_sw_min=3000
[I 17:21:20.032] MC:m_bldc_f_sw_max=40000
[I 17:21:20.032] MC:m_dc_f_sw=35000
[I 17:21:20.032] MC:m_ntc_motor_beta=3380
[I 17:21:20.033] [confs] readAppConfiguration
[I 17:21:20.033] Ask.appConfGet()
[I 17:21:20.101] Stopping configurations timer
[I 17:21:20.102] [confs] GET_APPCONF reply currentId=1
[I 17:21:20.102] Ask.appConfRead()
[I 17:21:20.102] [ask]: conf does not have signature
[I 17:21:20.102] AC:controller_id=1
[I 17:21:20.102] AC:timeout_msec=1000
[I 17:21:20.102] AC:timeout_brake_current=0
[I 17:21:20.102] AC:send_can_status=1
[I 17:21:20.102] AC:send_can_status_rate_hz=200
[I 17:21:20.102] AC:can_baud_rate=2
[I 17:21:20.102] AC:app_to_use=3
[I 17:21:20.103] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:21:20.105] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:20.105] AC:app_ppm_conf_hyst=0.15
[I 17:21:20.106] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:20.106] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:20.106] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:20.107] AC:app_ppm_conf_median_filter=1
[I 17:21:20.107] AC:app_ppm_conf_safe_start=1
[I 17:21:20.108] AC:app_ppm_conf_throttle_exp=0.5
[I 17:21:20.108] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:21:20.108] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:21:20.110] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:20.110] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:20.111] AC:app_ppm_conf_multi_esc=1
[I 17:21:20.111] AC:app_ppm_conf_tc=1
[I 17:21:20.111] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:20.111] AC:app_adc_conf_ctrl_type=0
[I 17:21:20.111] AC:app_adc_conf_hyst=0.15
[I 17:21:20.111] AC:app_adc_conf_voltage_start=0.9
[I 17:21:20.111] AC:app_adc_conf_voltage_end=3
[I 17:21:20.111] AC:app_adc_conf_voltage_center=2
[I 17:21:20.111] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:20.111] AC:app_adc_conf_voltage2_end=3
[I 17:21:20.111] AC:app_adc_conf_use_filter=1
[I 17:21:20.111] AC:app_adc_conf_safe_start=1
[I 17:21:20.111] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:20.111] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:20.111] AC:app_adc_conf_voltage_inverted=0
[I 17:21:20.111] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:20.111] AC:app_adc_conf_throttle_exp=0
[I 17:21:20.111] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:20.111] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:20.111] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:20.111] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:20.111] AC:app_adc_conf_multi_esc=0
[I 17:21:20.111] AC:app_adc_conf_tc=0
[I 17:21:20.111] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:20.111] AC:app_adc_conf_update_rate_hz=500
[I 17:21:20.111] AC:app_uart_baudrate=9600
[I 17:21:20.111] AC:app_chuk_conf_ctrl_type=1
[I 17:21:20.112] AC:app_chuk_conf_hyst=0.15
[I 17:21:20.112] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:20.112] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:20.112] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:20.112] AC:app_chuk_conf_throttle_exp=0
[I 17:21:20.112] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:20.112] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:20.112] AC:app_chuk_conf_multi_esc=0
[I 17:21:20.112] AC:app_chuk_conf_tc=0
[I 17:21:20.112] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:20.112] AC:app_nrf_conf_speed=2
[I 17:21:20.112] AC:app_nrf_conf_power=3
[I 17:21:20.112] AC:app_nrf_conf_crc_type=1
[I 17:21:20.112] AC:app_nrf_conf_retry_delay=0
[I 17:21:20.112] AC:app_nrf_conf_retries=3
[I 17:21:20.112] AC:app_nrf_conf_channel=76
[I 17:21:20.112] AC:app_nrf_conf_address=13027072
[I 17:21:20.112] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:20.112] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:20.112] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:20.112] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:20.112] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:20.112] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:20.112] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:20.112] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:20.112] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:23.736] [confs] write()
[I 17:21:23.737] [confs] writeMotorConfiguration
[I 17:21:23.737] Ask.motorConfWrite()
[I 17:21:23.738] MC:pwm_mode=1
[I 17:21:23.738] MC:comm_mode=0
[I 17:21:23.738] MC:motor_type=2
[I 17:21:23.738] MC:sensor_mode=2
[I 17:21:23.739] MC:l_current_max=70
[I 17:21:23.739] MC:l_current_min=-70
[I 17:21:23.739] MC:l_in_current_max=35
[I 17:21:23.739] MC:l_in_current_min=-7
[I 17:21:23.739] MC:l_abs_current_max=130
[I 17:21:23.739] MC:l_min_erpm=-60000
[I 17:21:23.739] MC:l_max_erpm=49019.8
[I 17:21:23.744] MC:l_erpm_start=0.8
[I 17:21:23.745] MC:l_max_erpm_fbrake=300
[I 17:21:23.745] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:23.745] MC:l_min_vin=6
[I 17:21:23.745] MC:l_max_vin=57
[I 17:21:23.745] MC:l_battery_cut_start=42
[I 17:21:23.745] MC:l_battery_cut_end=40
[I 17:21:23.746] MC:l_slow_abs_current=1
[I 17:21:23.746] MC:l_temp_fet_start=85
[I 17:21:23.746] MC:l_temp_fet_end=100
[I 17:21:23.746] MC:l_temp_motor_start=85
[I 17:21:23.746] MC:l_temp_motor_end=100
[I 17:21:23.746] MC:l_temp_accel_dec=0.1
[I 17:21:23.746] MC:l_min_duty=0.005
[I 17:21:23.746] MC:l_max_duty=0.95
[I 17:21:23.746] MC:l_watt_max=15000
[I 17:21:23.748] MC:l_watt_min=-15000
[I 17:21:23.748] MC:sl_min_erpm=150
[I 17:21:23.748] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:23.748] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:23.748] MC:sl_cycle_int_limit=62
[I 17:21:23.749] MC:sl_phase_advance_at_br=0.8
[I 17:21:23.749] MC:sl_cycle_int_rpm_br=80000
[I 17:21:23.749] MC:sl_bemf_coupling_k=600
[I 17:21:23.749] MC:hall_table_0=255
[I 17:21:23.749] MC:hall_table_1=1
[I 17:21:23.749] MC:hall_table_2=3
[I 17:21:23.749] MC:hall_table_3=2
[I 17:21:23.749] MC:hall_table_4=5
[I 17:21:23.749] MC:hall_table_5=6
[I 17:21:23.750] MC:hall_table_6=4
[I 17:21:23.750] MC:hall_table_7=255
[I 17:21:23.750] MC:hall_sl_erpm=2000
[I 17:21:23.750] MC:foc_current_kp=0.0044
[I 17:21:23.750] MC:foc_current_ki=13.95
[I 17:21:23.750] MC:foc_f_sw=20000
[I 17:21:23.750] MC:foc_dt_us=0.08
[I 17:21:23.750] MC:foc_encoder_inverted=0
[I 17:21:23.750] MC:foc_encoder_offset=180
[I 17:21:23.750] MC:foc_encoder_ratio=7
[I 17:21:23.750] MC:foc_sensor_mode=2
[I 17:21:23.750] MC:foc_pll_kp=2000
[I 17:21:23.750] MC:foc_pll_ki=40000
[I 17:21:23.750] MC:foc_motor_l=4.37e-06
[I 17:21:23.750] MC:foc_motor_r=0.0139
[I 17:21:23.750] MC:foc_motor_flux_linkage=0.004444
[I 17:21:23.750] MC:foc_observer_gain=5.064e+07
[I 17:21:23.750] MC:foc_observer_gain_slow=0.3
[I 17:21:23.750] MC:foc_duty_dowmramp_kp=10
[I 17:21:23.750] MC:foc_duty_dowmramp_ki=200
[I 17:21:23.750] MC:foc_openloop_rpm=400
[I 17:21:23.750] MC:foc_sl_openloop_hyst=0.1
[I 17:21:23.750] MC:foc_sl_openloop_time=0.1
[I 17:21:23.750] MC:foc_sl_d_current_duty=0
[I 17:21:23.750] MC:foc_sl_d_current_factor=0
[I 17:21:23.750] MC:foc_hall_table0=255
[I 17:21:23.750] MC:foc_hall_table1=86
[I 17:21:23.751] MC:foc_hall_table2=17
[I 17:21:23.751] MC:foc_hall_table3=56
[I 17:21:23.751] MC:foc_hall_table4=155
[I 17:21:23.751] MC:foc_hall_table5=119
[I 17:21:23.751] MC:foc_hall_table6=183
[I 17:21:23.751] MC:foc_hall_table7=255
[I 17:21:23.751] MC:foc_sl_erpm=2500
[I 17:21:23.751] MC:foc_sample_v0_v7=0
[I 17:21:23.751] MC:foc_sample_high_current=0
[I 17:21:23.751] MC:foc_sat_comp=0
[I 17:21:23.751] MC:foc_temp_comp=0
[I 17:21:23.751] MC:foc_temp_comp_base_temp=25
[I 17:21:23.751] MC:foc_current_filter_const=0.1
[I 17:21:23.751] MC:s_pid_kp=0.002
[I 17:21:23.751] MC:s_pid_ki=0.002
[I 17:21:23.751] MC:s_pid_kd=0
[I 17:21:23.751] MC:s_pid_kd_filter=0.2
[I 17:21:23.751] MC:s_pid_min_rpm=900
[I 17:21:23.751] MC:s_pid_allow_braking=1
[I 17:21:23.751] MC:p_pid_kp=0.03
[I 17:21:23.751] MC:p_pid_ki=0
[I 17:21:23.751] MC:p_pid_kd=0.0004
[I 17:21:23.751] MC:p_pid_kd_filter=0.2
[I 17:21:23.751] MC:p_pid_ang_div=1
[I 17:21:23.751] MC:cc_startup_boost_duty=0.01
[I 17:21:23.751] MC:cc_min_current=0.1
[I 17:21:23.751] MC:cc_gain=0.0046
[I 17:21:23.751] MC:cc_ramp_step_max=0.04
[I 17:21:23.751] MC:m_fault_stop_time_ms=500
[I 17:21:23.751] MC:m_duty_ramp_step=0.02
[I 17:21:23.751] MC:m_current_backoff_gain=0.5
[I 17:21:23.751] MC:m_encoder_counts=8192
[I 17:21:23.751] MC:m_sensor_port_mode=0
[I 17:21:23.751] MC:m_invert_direction=0
[I 17:21:23.751] MC:m_drv8301_oc_mode=0
[I 17:21:23.751] MC:m_drv8301_oc_adj=16
[I 17:21:23.751] MC:m_bldc_f_sw_min=3000
[I 17:21:23.751] MC:m_bldc_f_sw_max=40000
[I 17:21:23.751] MC:m_dc_f_sw=35000
[I 17:21:23.751] MC:m_ntc_motor_beta=3380
[I 17:21:24.306] Stopping configurations timer
[I 17:21:24.309] [confs] SET_MCCONF reply currentId=0
[I 17:21:24.310] Ask.appConfWrite()
[I 17:21:24.310] AC:controller_id=0
[I 17:21:24.310] AC:timeout_msec=1000
[I 17:21:24.310] AC:timeout_brake_current=0
[I 17:21:24.311] AC:send_can_status=1
[I 17:21:24.311] AC:send_can_status_rate_hz=200
[I 17:21:24.311] AC:can_baud_rate=2
[I 17:21:24.311] AC:app_to_use=4
[I 17:21:24.311] AC:ack_app_ppm_conf_ctrl_type=1
[I 17:21:24.311] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:24.311] AC:app_ppm_conf_hyst=0.15
[I 17:21:24.312] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:24.312] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:24.312] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:24.312] AC:app_ppm_conf_median_filter=1
[I 17:21:24.312] AC:app_ppm_conf_safe_start=1
[I 17:21:24.312] AC:app_ppm_conf_throttle_exp=0.85
[I 17:21:24.312] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:21:24.312] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:21:24.312] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:24.313] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:24.313] AC:app_ppm_conf_multi_esc=1
[I 17:21:24.313] AC:app_ppm_conf_tc=1
[I 17:21:24.313] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:24.313] AC:app_adc_conf_ctrl_type=0
[I 17:21:24.313] AC:app_adc_conf_hyst=0.15
[I 17:21:24.313] AC:app_adc_conf_voltage_start=0.9
[I 17:21:24.313] AC:app_adc_conf_voltage_end=3
[I 17:21:24.313] AC:app_adc_conf_voltage_center=2
[I 17:21:24.313] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:24.313] AC:app_adc_conf_voltage2_end=3
[I 17:21:24.313] AC:app_adc_conf_use_filter=1
[I 17:21:24.313] AC:app_adc_conf_safe_start=1
[I 17:21:24.313] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:24.314] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:24.314] AC:app_adc_conf_voltage_inverted=0
[I 17:21:24.314] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:24.314] AC:app_adc_conf_throttle_exp=0
[I 17:21:24.314] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:24.314] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:24.314] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:24.314] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:24.314] AC:app_adc_conf_multi_esc=0
[I 17:21:24.314] AC:app_adc_conf_tc=0
[I 17:21:24.314] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:24.314] AC:app_adc_conf_update_rate_hz=500
[I 17:21:24.315] AC:app_uart_baudrate=115200
[I 17:21:24.315] AC:app_chuk_conf_ctrl_type=1
[I 17:21:24.315] AC:app_chuk_conf_hyst=0.15
[I 17:21:24.315] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:24.315] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:24.315] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:24.315] AC:app_chuk_conf_throttle_exp=0
[I 17:21:24.315] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:24.315] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:24.315] AC:app_chuk_conf_multi_esc=0
[I 17:21:24.315] AC:app_chuk_conf_tc=0
[I 17:21:24.315] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:24.315] AC:app_nrf_conf_speed=2
[I 17:21:24.315] AC:app_nrf_conf_power=3
[I 17:21:24.316] AC:app_nrf_conf_crc_type=1
[I 17:21:24.316] AC:app_nrf_conf_retry_delay=0
[I 17:21:24.316] AC:app_nrf_conf_retries=3
[I 17:21:24.316] AC:app_nrf_conf_channel=76
[I 17:21:24.316] AC:app_nrf_conf_address=13027072
[I 17:21:24.316] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:24.316] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:24.316] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:24.316] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:24.316] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:24.316] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:24.316] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:24.316] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:24.316] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:24.805] Stopping configurations timer
[I 17:21:24.807] [confs] SET_APPCONF reply currentId=0
[I 17:21:24.807] [confs] writeMotorConfiguration
[I 17:21:24.807] Ask.motorConfWrite()
[I 17:21:24.807] MC:pwm_mode=1
[I 17:21:24.807] MC:comm_mode=0
[I 17:21:24.807] MC:motor_type=2
[I 17:21:24.807] MC:sensor_mode=2
[I 17:21:24.807] MC:l_current_max=70
[I 17:21:24.808] MC:l_current_min=-70
[I 17:21:24.808] MC:l_in_current_max=35
[I 17:21:24.808] MC:l_in_current_min=-7
[I 17:21:24.808] MC:l_abs_current_max=130
[I 17:21:24.808] MC:l_min_erpm=-60000
[I 17:21:24.808] MC:l_max_erpm=49019.8
[I 17:21:24.808] MC:l_erpm_start=0.8
[I 17:21:24.808] MC:l_max_erpm_fbrake=300
[I 17:21:24.808] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:24.808] MC:l_min_vin=6
[I 17:21:24.808] MC:l_max_vin=57
[I 17:21:24.808] MC:l_battery_cut_start=42
[I 17:21:24.808] MC:l_battery_cut_end=40
[I 17:21:24.808] MC:l_slow_abs_current=1
[I 17:21:24.808] MC:l_temp_fet_start=85
[I 17:21:24.808] MC:l_temp_fet_end=100
[I 17:21:24.808] MC:l_temp_motor_start=85
[I 17:21:24.808] MC:l_temp_motor_end=100
[I 17:21:24.808] MC:l_temp_accel_dec=0.1
[I 17:21:24.808] MC:l_min_duty=0.005
[I 17:21:24.808] MC:l_max_duty=0.95
[I 17:21:24.808] MC:l_watt_max=15000
[I 17:21:24.808] MC:l_watt_min=-15000
[I 17:21:24.808] MC:sl_min_erpm=150
[I 17:21:24.809] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:24.809] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:24.809] MC:sl_cycle_int_limit=62
[I 17:21:24.809] MC:sl_phase_advance_at_br=0.8
[I 17:21:24.809] MC:sl_cycle_int_rpm_br=80000
[I 17:21:24.809] MC:sl_bemf_coupling_k=600
[I 17:21:24.809] MC:hall_table_0=255
[I 17:21:24.809] MC:hall_table_1=1
[I 17:21:24.809] MC:hall_table_2=3
[I 17:21:24.809] MC:hall_table_3=2
[I 17:21:24.809] MC:hall_table_4=5
[I 17:21:24.809] MC:hall_table_5=6
[I 17:21:24.809] MC:hall_table_6=4
[I 17:21:24.809] MC:hall_table_7=255
[I 17:21:24.809] MC:hall_sl_erpm=2000
[I 17:21:24.809] MC:foc_current_kp=0.005
[I 17:21:24.809] MC:foc_current_ki=13.65
[I 17:21:24.810] MC:foc_f_sw=20000
[I 17:21:24.810] MC:foc_dt_us=0.08
[I 17:21:24.810] MC:foc_encoder_inverted=0
[I 17:21:24.810] MC:foc_encoder_offset=180
[I 17:21:24.810] MC:foc_encoder_ratio=7
[I 17:21:24.810] MC:foc_sensor_mode=2
[I 17:21:24.810] MC:foc_pll_kp=2000
[I 17:21:24.810] MC:foc_pll_ki=40000
[I 17:21:24.811] MC:foc_motor_l=4.96e-06
[I 17:21:24.811] MC:foc_motor_r=0.0137
[I 17:21:24.811] MC:foc_motor_flux_linkage=0.004425
[I 17:21:24.811] MC:foc_observer_gain=5.107e+07
[I 17:21:24.811] MC:foc_observer_gain_slow=0.3
[I 17:21:24.811] MC:foc_duty_dowmramp_kp=10
[I 17:21:24.811] MC:foc_duty_dowmramp_ki=200
[I 17:21:24.811] MC:foc_openloop_rpm=400
[I 17:21:24.811] MC:foc_sl_openloop_hyst=0.1
[I 17:21:24.811] MC:foc_sl_openloop_time=0.1
[I 17:21:24.811] MC:foc_sl_d_current_duty=0
[I 17:21:24.811] MC:foc_sl_d_current_factor=0
[I 17:21:24.811] MC:foc_hall_table0=255
[I 17:21:24.811] MC:foc_hall_table1=52
[I 17:21:24.811] MC:foc_hall_table2=115
[I 17:21:24.811] MC:foc_hall_table3=82
[I 17:21:24.811] MC:foc_hall_table4=179
[I 17:21:24.811] MC:foc_hall_table5=15
[I 17:21:24.811] MC:foc_hall_table6=149
[I 17:21:24.811] MC:foc_hall_table7=255
[I 17:21:24.811] MC:foc_sl_erpm=2500
[I 17:21:24.812] MC:foc_sample_v0_v7=0
[I 17:21:24.812] MC:foc_sample_high_current=0
[I 17:21:24.812] MC:foc_sat_comp=0
[I 17:21:24.812] MC:foc_temp_comp=0
[I 17:21:24.812] MC:foc_temp_comp_base_temp=25
[I 17:21:24.812] MC:foc_current_filter_const=0.1
[I 17:21:24.812] MC:s_pid_kp=0.002
[I 17:21:24.812] MC:s_pid_ki=0.002
[I 17:21:24.812] MC:s_pid_kd=0
[I 17:21:24.812] MC:s_pid_kd_filter=0.2
[I 17:21:24.812] MC:s_pid_min_rpm=900
[I 17:21:24.812] MC:s_pid_allow_braking=1
[I 17:21:24.812] MC:p_pid_kp=0.03
[I 17:21:24.812] MC:p_pid_ki=0
[I 17:21:24.812] MC:p_pid_kd=0.0004
[I 17:21:24.812] MC:p_pid_kd_filter=0.2
[I 17:21:24.812] MC:p_pid_ang_div=1
[I 17:21:24.812] MC:cc_startup_boost_duty=0.01
[I 17:21:24.812] MC:cc_min_current=0.1
[I 17:21:24.812] MC:cc_gain=0.0046
[I 17:21:24.812] MC:cc_ramp_step_max=0.04
[I 17:21:24.812] MC:m_fault_stop_time_ms=500
[I 17:21:24.812] MC:m_duty_ramp_step=0.02
[I 17:21:24.813] MC:m_current_backoff_gain=0.5
[I 17:21:24.813] MC:m_encoder_counts=8192
[I 17:21:24.813] MC:m_sensor_port_mode=0
[I 17:21:24.813] MC:m_invert_direction=0
[I 17:21:24.813] MC:m_drv8301_oc_mode=0
[I 17:21:24.813] MC:m_drv8301_oc_adj=16
[I 17:21:24.813] MC:m_bldc_f_sw_min=3000
[I 17:21:24.813] MC:m_bldc_f_sw_max=40000
[I 17:21:24.813] MC:m_dc_f_sw=35000
[I 17:21:24.813] MC:m_ntc_motor_beta=3380
[I 17:21:25.376] Stopping configurations timer
[I 17:21:25.378] [confs] SET_MCCONF reply currentId=1
[I 17:21:25.379] Ask.appConfWrite()
[I 17:21:25.379] AC:controller_id=1
[I 17:21:25.380] AC:timeout_msec=1000
[I 17:21:25.380] AC:timeout_brake_current=0
[I 17:21:25.380] AC:send_can_status=1
[I 17:21:25.382] AC:send_can_status_rate_hz=200
[I 17:21:25.382] AC:can_baud_rate=2
[I 17:21:25.382] AC:app_to_use=3
[I 17:21:25.382] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:21:25.382] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:25.382] AC:app_ppm_conf_hyst=0.15
[I 17:21:25.382] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:25.382] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:25.382] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:25.382] AC:app_ppm_conf_median_filter=1
[I 17:21:25.383] AC:app_ppm_conf_safe_start=1
[I 17:21:25.383] AC:app_ppm_conf_throttle_exp=0.5
[I 17:21:25.383] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:21:25.383] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:21:25.383] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:25.383] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:25.383] AC:app_ppm_conf_multi_esc=1
[I 17:21:25.383] AC:app_ppm_conf_tc=1
[I 17:21:25.383] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:25.383] AC:app_adc_conf_ctrl_type=0
[I 17:21:25.383] AC:app_adc_conf_hyst=0.15
[I 17:21:25.383] AC:app_adc_conf_voltage_start=0.9
[I 17:21:25.383] AC:app_adc_conf_voltage_end=3
[I 17:21:25.383] AC:app_adc_conf_voltage_center=2
[I 17:21:25.383] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:25.383] AC:app_adc_conf_voltage2_end=3
[I 17:21:25.383] AC:app_adc_conf_use_filter=1
[I 17:21:25.383] AC:app_adc_conf_safe_start=1
[I 17:21:25.383] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:25.383] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:25.383] AC:app_adc_conf_voltage_inverted=0
[I 17:21:25.383] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:25.383] AC:app_adc_conf_throttle_exp=0
[I 17:21:25.384] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:25.384] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:25.384] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:25.384] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:25.384] AC:app_adc_conf_multi_esc=0
[I 17:21:25.384] AC:app_adc_conf_tc=0
[I 17:21:25.384] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:25.384] AC:app_adc_conf_update_rate_hz=500
[I 17:21:25.384] AC:app_uart_baudrate=9600
[I 17:21:25.384] AC:app_chuk_conf_ctrl_type=1
[I 17:21:25.384] AC:app_chuk_conf_hyst=0.15
[I 17:21:25.384] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:25.384] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:25.384] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:25.384] AC:app_chuk_conf_throttle_exp=0
[I 17:21:25.384] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:25.384] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:25.384] AC:app_chuk_conf_multi_esc=0
[I 17:21:25.384] AC:app_chuk_conf_tc=0
[I 17:21:25.384] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:25.384] AC:app_nrf_conf_speed=2
[I 17:21:25.385] AC:app_nrf_conf_power=3
[I 17:21:25.385] AC:app_nrf_conf_crc_type=1
[I 17:21:25.385] AC:app_nrf_conf_retry_delay=0
[I 17:21:25.385] AC:app_nrf_conf_retries=3
[I 17:21:25.385] AC:app_nrf_conf_channel=76
[I 17:21:25.385] AC:app_nrf_conf_address=13027072
[I 17:21:25.385] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:25.385] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:25.385] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:25.385] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:25.385] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:25.385] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:25.385] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:25.385] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:25.385] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:25.888] Stopping configurations timer
[I 17:21:25.891] [confs] SET_APPCONF reply currentId=1
[I 17:21:39.552] [confs] write()
[I 17:21:39.553] [confs] writeMotorConfiguration
[I 17:21:39.553] Ask.motorConfWrite()
[I 17:21:39.553] MC:pwm_mode=1
[I 17:21:39.553] MC:comm_mode=0
[I 17:21:39.553] MC:motor_type=2
[I 17:21:39.553] MC:sensor_mode=2
[I 17:21:39.553] MC:l_current_max=70
[I 17:21:39.553] MC:l_current_min=-70
[I 17:21:39.553] MC:l_in_current_max=35
[I 17:21:39.553] MC:l_in_current_min=-7
[I 17:21:39.553] MC:l_abs_current_max=130
[I 17:21:39.554] MC:l_min_erpm=-60000
[I 17:21:39.554] MC:l_max_erpm=49019.8
[I 17:21:39.554] MC:l_erpm_start=0.8
[I 17:21:39.554] MC:l_max_erpm_fbrake=300
[I 17:21:39.554] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:39.554] MC:l_min_vin=6
[I 17:21:39.554] MC:l_max_vin=57
[I 17:21:39.554] MC:l_battery_cut_start=42
[I 17:21:39.554] MC:l_battery_cut_end=40
[I 17:21:39.554] MC:l_slow_abs_current=1
[I 17:21:39.554] MC:l_temp_fet_start=85
[I 17:21:39.554] MC:l_temp_fet_end=100
[I 17:21:39.554] MC:l_temp_motor_start=85
[I 17:21:39.554] MC:l_temp_motor_end=100
[I 17:21:39.555] MC:l_temp_accel_dec=0.1
[I 17:21:39.555] MC:l_min_duty=0.005
[I 17:21:39.555] MC:l_max_duty=0.95
[I 17:21:39.555] MC:l_watt_max=15000
[I 17:21:39.555] MC:l_watt_min=-15000
[I 17:21:39.555] MC:sl_min_erpm=150
[I 17:21:39.555] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:39.555] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:39.555] MC:sl_cycle_int_limit=62
[I 17:21:39.555] MC:sl_phase_advance_at_br=0.8
[I 17:21:39.555] MC:sl_cycle_int_rpm_br=80000
[I 17:21:39.555] MC:sl_bemf_coupling_k=600
[I 17:21:39.555] MC:hall_table_0=255
[I 17:21:39.555] MC:hall_table_1=1
[I 17:21:39.555] MC:hall_table_2=3
[I 17:21:39.556] MC:hall_table_3=2
[I 17:21:39.556] MC:hall_table_4=5
[I 17:21:39.556] MC:hall_table_5=6
[I 17:21:39.556] MC:hall_table_6=4
[I 17:21:39.556] MC:hall_table_7=255
[I 17:21:39.556] MC:hall_sl_erpm=2000
[I 17:21:39.556] MC:foc_current_kp=0.0044
[I 17:21:39.556] MC:foc_current_ki=13.95
[I 17:21:39.556] MC:foc_f_sw=20000
[I 17:21:39.556] MC:foc_dt_us=0.08
[I 17:21:39.556] MC:foc_encoder_inverted=0
[I 17:21:39.556] MC:foc_encoder_offset=180
[I 17:21:39.556] MC:foc_encoder_ratio=7
[I 17:21:39.556] MC:foc_sensor_mode=2
[I 17:21:39.556] MC:foc_pll_kp=2000
[I 17:21:39.557] MC:foc_pll_ki=40000
[I 17:21:39.557] MC:foc_motor_l=4.37e-06
[I 17:21:39.557] MC:foc_motor_r=0.0139
[I 17:21:39.557] MC:foc_motor_flux_linkage=0.004444
[I 17:21:39.557] MC:foc_observer_gain=5.064e+07
[I 17:21:39.557] MC:foc_observer_gain_slow=0.3
[I 17:21:39.557] MC:foc_duty_dowmramp_kp=10
[I 17:21:39.557] MC:foc_duty_dowmramp_ki=200
[I 17:21:39.557] MC:foc_openloop_rpm=400
[I 17:21:39.557] MC:foc_sl_openloop_hyst=0.1
[I 17:21:39.557] MC:foc_sl_openloop_time=0.1
[I 17:21:39.557] MC:foc_sl_d_current_duty=0
[I 17:21:39.557] MC:foc_sl_d_current_factor=0
[I 17:21:39.557] MC:foc_hall_table0=255
[I 17:21:39.557] MC:foc_hall_table1=86
[I 17:21:39.558] MC:foc_hall_table2=17
[I 17:21:39.558] MC:foc_hall_table3=56
[I 17:21:39.558] MC:foc_hall_table4=155
[I 17:21:39.558] MC:foc_hall_table5=119
[I 17:21:39.558] MC:foc_hall_table6=183
[I 17:21:39.558] MC:foc_hall_table7=255
[I 17:21:39.558] MC:foc_sl_erpm=2500
[I 17:21:39.558] MC:foc_sample_v0_v7=0
[I 17:21:39.558] MC:foc_sample_high_current=0
[I 17:21:39.558] MC:foc_sat_comp=0
[I 17:21:39.558] MC:foc_temp_comp=0
[I 17:21:39.558] MC:foc_temp_comp_base_temp=25
[I 17:21:39.558] MC:foc_current_filter_const=0.1
[I 17:21:39.558] MC:s_pid_kp=0.002
[I 17:21:39.558] MC:s_pid_ki=0.002
[I 17:21:39.559] MC:s_pid_kd=0
[I 17:21:39.559] MC:s_pid_kd_filter=0.2
[I 17:21:39.559] MC:s_pid_min_rpm=900
[I 17:21:39.559] MC:s_pid_allow_braking=1
[I 17:21:39.559] MC:p_pid_kp=0.03
[I 17:21:39.559] MC:p_pid_ki=0
[I 17:21:39.559] MC:p_pid_kd=0.0004
[I 17:21:39.559] MC:p_pid_kd_filter=0.2
[I 17:21:39.559] MC:p_pid_ang_div=1
[I 17:21:39.559] MC:cc_startup_boost_duty=0.01
[I 17:21:39.559] MC:cc_min_current=0.1
[I 17:21:39.559] MC:cc_gain=0.0046
[I 17:21:39.559] MC:cc_ramp_step_max=0.04
[I 17:21:39.559] MC:m_fault_stop_time_ms=500
[I 17:21:39.559] MC:m_duty_ramp_step=0.02
[I 17:21:39.559] MC:m_current_backoff_gain=0.5
[I 17:21:39.559] MC:m_encoder_counts=8192
[I 17:21:39.559] MC:m_sensor_port_mode=0
[I 17:21:39.559] MC:m_invert_direction=0
[I 17:21:39.560] MC:m_drv8301_oc_mode=0
[I 17:21:39.560] MC:m_drv8301_oc_adj=16
[I 17:21:39.560] MC:m_bldc_f_sw_min=3000
[I 17:21:39.560] MC:m_bldc_f_sw_max=40000
[I 17:21:39.560] MC:m_dc_f_sw=35000
[I 17:21:39.560] MC:m_ntc_motor_beta=3380
[I 17:21:40.116] Stopping configurations timer
[I 17:21:40.118] [confs] SET_MCCONF reply currentId=0
[I 17:21:40.119] Ask.appConfWrite()
[I 17:21:40.119] AC:controller_id=0
[I 17:21:40.119] AC:timeout_msec=1000
[I 17:21:40.119] AC:timeout_brake_current=0
[I 17:21:40.119] AC:send_can_status=1
[I 17:21:40.119] AC:send_can_status_rate_hz=200
[I 17:21:40.119] AC:can_baud_rate=2
[I 17:21:40.119] AC:app_to_use=4
[I 17:21:40.119] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:21:40.119] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:40.119] AC:app_ppm_conf_hyst=0.15
[I 17:21:40.120] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:40.120] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:40.120] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:40.120] AC:app_ppm_conf_median_filter=1
[I 17:21:40.120] AC:app_ppm_conf_safe_start=1
[I 17:21:40.120] AC:app_ppm_conf_throttle_exp=0.85
[I 17:21:40.120] AC:app_ppm_conf_throttle_exp_brake=0.5
[I 17:21:40.120] AC:app_ppm_conf_throttle_exp_mode=0
[I 17:21:40.120] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:40.121] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:40.121] AC:app_ppm_conf_multi_esc=1
[I 17:21:40.121] AC:app_ppm_conf_tc=1
[I 17:21:40.121] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:40.121] AC:app_adc_conf_ctrl_type=0
[I 17:21:40.121] AC:app_adc_conf_hyst=0.15
[I 17:21:40.121] AC:app_adc_conf_voltage_start=0.9
[I 17:21:40.121] AC:app_adc_conf_voltage_end=3
[I 17:21:40.121] AC:app_adc_conf_voltage_center=2
[I 17:21:40.121] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:40.121] AC:app_adc_conf_voltage2_end=3
[I 17:21:40.121] AC:app_adc_conf_use_filter=1
[I 17:21:40.121] AC:app_adc_conf_safe_start=1
[I 17:21:40.121] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:40.121] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:40.121] AC:app_adc_conf_voltage_inverted=0
[I 17:21:40.121] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:40.121] AC:app_adc_conf_throttle_exp=0
[I 17:21:40.121] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:40.121] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:40.121] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:40.122] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:40.122] AC:app_adc_conf_multi_esc=0
[I 17:21:40.122] AC:app_adc_conf_tc=0
[I 17:21:40.122] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:40.122] AC:app_adc_conf_update_rate_hz=500
[I 17:21:40.122] AC:app_uart_baudrate=115200
[I 17:21:40.122] AC:app_chuk_conf_ctrl_type=1
[I 17:21:40.122] AC:app_chuk_conf_hyst=0.15
[I 17:21:40.122] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:40.122] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:40.122] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:40.122] AC:app_chuk_conf_throttle_exp=0
[I 17:21:40.123] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:40.123] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:40.123] AC:app_chuk_conf_multi_esc=0
[I 17:21:40.123] AC:app_chuk_conf_tc=0
[I 17:21:40.123] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:40.123] AC:app_nrf_conf_speed=2
[I 17:21:40.123] AC:app_nrf_conf_power=3
[I 17:21:40.123] AC:app_nrf_conf_crc_type=1
[I 17:21:40.123] AC:app_nrf_conf_retry_delay=0
[I 17:21:40.123] AC:app_nrf_conf_retries=3
[I 17:21:40.123] AC:app_nrf_conf_channel=76
[I 17:21:40.123] AC:app_nrf_conf_address=13027072
[I 17:21:40.123] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:40.123] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:40.123] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:40.123] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:40.123] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:40.123] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:40.123] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:40.124] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:40.124] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:40.556] Stopping configurations timer
[I 17:21:40.558] [confs] SET_APPCONF reply currentId=0
[I 17:21:40.559] [confs] writeMotorConfiguration
[I 17:21:40.559] Ask.motorConfWrite()
[I 17:21:40.560] MC:pwm_mode=1
[I 17:21:40.560] MC:comm_mode=0
[I 17:21:40.560] MC:motor_type=2
[I 17:21:40.560] MC:sensor_mode=2
[I 17:21:40.560] MC:l_current_max=70
[I 17:21:40.561] MC:l_current_min=-70
[I 17:21:40.561] MC:l_in_current_max=35
[I 17:21:40.561] MC:l_in_current_min=-7
[I 17:21:40.561] MC:l_abs_current_max=130
[I 17:21:40.561] MC:l_min_erpm=-60000
[I 17:21:40.561] MC:l_max_erpm=49019.8
[I 17:21:40.561] MC:l_erpm_start=0.8
[I 17:21:40.561] MC:l_max_erpm_fbrake=300
[I 17:21:40.561] MC:l_max_erpm_fbrake_cc=1500
[I 17:21:40.561] MC:l_min_vin=6
[I 17:21:40.561] MC:l_max_vin=57
[I 17:21:40.561] MC:l_battery_cut_start=42
[I 17:21:40.562] MC:l_battery_cut_end=40
[I 17:21:40.562] MC:l_slow_abs_current=1
[I 17:21:40.562] MC:l_temp_fet_start=85
[I 17:21:40.562] MC:l_temp_fet_end=100
[I 17:21:40.562] MC:l_temp_motor_start=85
[I 17:21:40.562] MC:l_temp_motor_end=100
[I 17:21:40.562] MC:l_temp_accel_dec=0.1
[I 17:21:40.562] MC:l_min_duty=0.005
[I 17:21:40.562] MC:l_max_duty=0.95
[I 17:21:40.563] MC:l_watt_max=15000
[I 17:21:40.563] MC:l_watt_min=-15000
[I 17:21:40.563] MC:sl_min_erpm=150
[I 17:21:40.563] MC:sl_min_erpm_cycle_int_limit=1100
[I 17:21:40.563] MC:sl_max_fullbreak_current_dir_change=10
[I 17:21:40.563] MC:sl_cycle_int_limit=62
[I 17:21:40.563] MC:sl_phase_advance_at_br=0.8
[I 17:21:40.563] MC:sl_cycle_int_rpm_br=80000
[I 17:21:40.563] MC:sl_bemf_coupling_k=600
[I 17:21:40.563] MC:hall_table_0=255
[I 17:21:40.563] MC:hall_table_1=1
[I 17:21:40.563] MC:hall_table_2=3
[I 17:21:40.563] MC:hall_table_3=2
[I 17:21:40.563] MC:hall_table_4=5
[I 17:21:40.563] MC:hall_table_5=6
[I 17:21:40.563] MC:hall_table_6=4
[I 17:21:40.563] MC:hall_table_7=255
[I 17:21:40.563] MC:hall_sl_erpm=2000
[I 17:21:40.564] MC:foc_current_kp=0.005
[I 17:21:40.564] MC:foc_current_ki=13.65
[I 17:21:40.564] MC:foc_f_sw=20000
[I 17:21:40.564] MC:foc_dt_us=0.08
[I 17:21:40.564] MC:foc_encoder_inverted=0
[I 17:21:40.564] MC:foc_encoder_offset=180
[I 17:21:40.564] MC:foc_encoder_ratio=7
[I 17:21:40.564] MC:foc_sensor_mode=2
[I 17:21:40.564] MC:foc_pll_kp=2000
[I 17:21:40.564] MC:foc_pll_ki=40000
[I 17:21:40.564] MC:foc_motor_l=4.96e-06
[I 17:21:40.564] MC:foc_motor_r=0.0137
[I 17:21:40.564] MC:foc_motor_flux_linkage=0.004425
[I 17:21:40.564] MC:foc_observer_gain=5.107e+07
[I 17:21:40.564] MC:foc_observer_gain_slow=0.3
[I 17:21:40.564] MC:foc_duty_dowmramp_kp=10
[I 17:21:40.565] MC:foc_duty_dowmramp_ki=200
[I 17:21:40.565] MC:foc_openloop_rpm=400
[I 17:21:40.565] MC:foc_sl_openloop_hyst=0.1
[I 17:21:40.565] MC:foc_sl_openloop_time=0.1
[I 17:21:40.565] MC:foc_sl_d_current_duty=0
[I 17:21:40.565] MC:foc_sl_d_current_factor=0
[I 17:21:40.565] MC:foc_hall_table0=255
[I 17:21:40.565] MC:foc_hall_table1=52
[I 17:21:40.565] MC:foc_hall_table2=115
[I 17:21:40.565] MC:foc_hall_table3=82
[I 17:21:40.565] MC:foc_hall_table4=179
[I 17:21:40.565] MC:foc_hall_table5=15
[I 17:21:40.565] MC:foc_hall_table6=149
[I 17:21:40.565] MC:foc_hall_table7=255
[I 17:21:40.565] MC:foc_sl_erpm=2500
[I 17:21:40.565] MC:foc_sample_v0_v7=0
[I 17:21:40.565] MC:foc_sample_high_current=0
[I 17:21:40.566] MC:foc_sat_comp=0
[I 17:21:40.566] MC:foc_temp_comp=0
[I 17:21:40.566] MC:foc_temp_comp_base_temp=25
[I 17:21:40.566] MC:foc_current_filter_const=0.1
[I 17:21:40.566] MC:s_pid_kp=0.002
[I 17:21:40.566] MC:s_pid_ki=0.002
[I 17:21:40.566] MC:s_pid_kd=0
[I 17:21:40.566] MC:s_pid_kd_filter=0.2
[I 17:21:40.566] MC:s_pid_min_rpm=900
[I 17:21:40.566] MC:s_pid_allow_braking=1
[I 17:21:40.566] MC:p_pid_kp=0.03
[I 17:21:40.566] MC:p_pid_ki=0
[I 17:21:40.566] MC:p_pid_kd=0.0004
[I 17:21:40.566] MC:p_pid_kd_filter=0.2
[I 17:21:40.566] MC:p_pid_ang_div=1
[I 17:21:40.567] MC:cc_startup_boost_duty=0.01
[I 17:21:40.567] MC:cc_min_current=0.1
[I 17:21:40.567] MC:cc_gain=0.0046
[I 17:21:40.567] MC:cc_ramp_step_max=0.04
[I 17:21:40.567] MC:m_fault_stop_time_ms=500
[I 17:21:40.567] MC:m_duty_ramp_step=0.02
[I 17:21:40.567] MC:m_current_backoff_gain=0.5
[I 17:21:40.567] MC:m_encoder_counts=8192
[I 17:21:40.567] MC:m_sensor_port_mode=0
[I 17:21:40.567] MC:m_invert_direction=0
[I 17:21:40.567] MC:m_drv8301_oc_mode=0
[I 17:21:40.567] MC:m_drv8301_oc_adj=16
[I 17:21:40.567] MC:m_bldc_f_sw_min=3000
[I 17:21:40.567] MC:m_bldc_f_sw_max=40000
[I 17:21:40.567] MC:m_dc_f_sw=35000
[I 17:21:40.568] MC:m_ntc_motor_beta=3380
[I 17:21:41.134] Stopping configurations timer
[I 17:21:41.136] [confs] SET_MCCONF reply currentId=1
[I 17:21:41.137] Ask.appConfWrite()
[I 17:21:41.137] AC:controller_id=1
[I 17:21:41.137] AC:timeout_msec=1000
[I 17:21:41.137] AC:timeout_brake_current=0
[I 17:21:41.137] AC:send_can_status=1
[I 17:21:41.137] AC:send_can_status_rate_hz=200
[I 17:21:41.138] AC:can_baud_rate=2
[I 17:21:41.138] AC:app_to_use=3
[I 17:21:41.138] AC:ack_app_ppm_conf_ctrl_type=3
[I 17:21:41.138] AC:app_ppm_conf_pid_max_erpm=15000
[I 17:21:41.138] AC:app_ppm_conf_hyst=0.15
[I 17:21:41.138] AC:app_ppm_conf_pulse_start=1.145
[I 17:21:41.138] AC:app_ppm_conf_pulse_end=1.938
[I 17:21:41.138] AC:app_ppm_conf_pulse_center=1.538
[I 17:21:41.138] AC:app_ppm_conf_median_filter=1
[I 17:21:41.138] AC:app_ppm_conf_safe_start=1
[I 17:21:41.138] AC:app_ppm_conf_throttle_exp=0.5
[I 17:21:41.138] AC:app_ppm_conf_throttle_exp_brake=-1
[I 17:21:41.138] AC:app_ppm_conf_throttle_exp_mode=1
[I 17:21:41.138] AC:app_ppm_conf_ramp_time_pos=0.3
[I 17:21:41.138] AC:app_ppm_conf_ramp_time_neg=0.1
[I 17:21:41.138] AC:app_ppm_conf_multi_esc=1
[I 17:21:41.138] AC:app_ppm_conf_tc=1
[I 17:21:41.138] AC:app_ppm_conf_tc_max_diff=5000
[I 17:21:41.139] AC:app_adc_conf_ctrl_type=0
[I 17:21:41.139] AC:app_adc_conf_hyst=0.15
[I 17:21:41.139] AC:app_adc_conf_voltage_start=0.9
[I 17:21:41.139] AC:app_adc_conf_voltage_end=3
[I 17:21:41.139] AC:app_adc_conf_voltage_center=2
[I 17:21:41.139] AC:app_adc_conf_voltage2_start=0.9
[I 17:21:41.139] AC:app_adc_conf_voltage2_end=3
[I 17:21:41.139] AC:app_adc_conf_use_filter=1
[I 17:21:41.139] AC:app_adc_conf_safe_start=1
[I 17:21:41.139] AC:app_adc_conf_cc_button_inverted=0
[I 17:21:41.139] AC:app_adc_conf_rev_button_inverted=0
[I 17:21:41.139] AC:app_adc_conf_voltage_inverted=0
[I 17:21:41.139] AC:app_adc_conf_voltage2_inverted=0
[I 17:21:41.139] AC:app_adc_conf_throttle_exp=0
[I 17:21:41.140] AC:app_adc_conf_throttle_exp_brake=0
[I 17:21:41.140] AC:app_adc_conf_throttle_exp_mode=3
[I 17:21:41.141] AC:app_adc_conf_ramp_time_pos=0.3
[I 17:21:41.141] AC:app_adc_conf_ramp_time_neg=0.1
[I 17:21:41.141] AC:app_adc_conf_multi_esc=0
[I 17:21:41.141] AC:app_adc_conf_tc=0
[I 17:21:41.141] AC:app_adc_conf_tc_max_diff=5000
[I 17:21:41.141] AC:app_adc_conf_update_rate_hz=500
[I 17:21:41.141] AC:app_uart_baudrate=9600
[I 17:21:41.141] AC:app_chuk_conf_ctrl_type=1
[I 17:21:41.141] AC:app_chuk_conf_hyst=0.15
[I 17:21:41.141] AC:app_chuk_conf_ramp_time_pos=0.3
[I 17:21:41.141] AC:app_chuk_conf_ramp_time_neg=0.1
[I 17:21:41.141] AC:app_chuk_conf_stick_erpm_per_s_in_cc=3000
[I 17:21:41.141] AC:app_chuk_conf_throttle_exp=0
[I 17:21:41.141] AC:app_chuk_conf_throttle_exp_brake=0
[I 17:21:41.141] AC:app_chuk_conf_throttle_exp_mode=3
[I 17:21:41.141] AC:app_chuk_conf_multi_esc=0
[I 17:21:41.141] AC:app_chuk_conf_tc=0
[I 17:21:41.141] AC:app_chuk_conf_tc_max_diff=5000
[I 17:21:41.141] AC:app_nrf_conf_speed=2
[I 17:21:41.141] AC:app_nrf_conf_power=3
[I 17:21:41.142] AC:app_nrf_conf_crc_type=1
[I 17:21:41.142] AC:app_nrf_conf_retry_delay=0
[I 17:21:41.142] AC:app_nrf_conf_retries=3
[I 17:21:41.142] AC:app_nrf_conf_channel=76
[I 17:21:41.142] AC:app_nrf_conf_address=13027072
[I 17:21:41.142] AC:app_nrf_conf_send_crc_ack=1
[I 17:21:41.142] AC:ack_app_ppm_conf_tc_offset=3000
[I 17:21:41.142] AC:ack_app_ppm_conf_cruise_left=0
[I 17:21:41.142] AC:ack_app_ppm_conf_cruise_right=0
[I 17:21:41.142] AC:ack_app_ppm_conf_max_erpm_for_dir_active=0
[I 17:21:41.142] AC:ack_app_ppm_conf_max_erpm_for_dir=4000
[I 17:21:41.142] AC:ack_app_adc_conf_tc_offset=3000
[I 17:21:41.142] AC:ack_app_chuk_conf_tc_offset=3000
[I 17:21:41.142] AC:ack_app_chuk_conf_buttons_mirrored=0
[I 17:21:41.619] Stopping configurations timer
[I 17:21:41.621] [confs] SET_APPCONF reply currentId=1
[I 17:21:59.378] [mw] openRealtime
[I 17:21:59.379] [expert] exit
[I 17:21:59.379] Ask.startRt()
[I 17:21:59.389] [rt] enter
[I 17:21:59.591] [mw] openRealtime
[E 17:23:11.381] Speed abnormal '-0.434213'
[E 17:23:11.668] Speed abnormal '-0.226643'
[E 17:23:33.722] Speed abnormal '-0.853839'
[E 17:23:33.813] Speed abnormal '-1.4283'
[E 17:23:33.929] Speed abnormal '-1.64372'
[E 17:23:34.027] Speed abnormal '-0.990723'
[E 17:23:35.677] Speed abnormal '-1.30937'
[E 17:23:35.793] Speed abnormal '-1.9893'
[E 17:23:35.888] Speed abnormal '-2.25409'
[E 17:23:35.982] Speed abnormal '-1.61567'
[E 17:23:36.091] Speed abnormal '-0.457775'
[E 17:23:36.186] Speed abnormal '-0.221033'
[E 17:23:54.619] Speed abnormal '-0.001122'
[E 17:23:56.281] Speed abnormal '-0.001122'
[E 17:24:08.443] Speed abnormal '-0.661978'
[E 17:24:08.532] Speed abnormal '-0.802227'
[E 17:24:08.650] Speed abnormal '-0.870669'
[E 17:24:08.735] Speed abnormal '-0.829155'
[E 17:24:09.618] Speed abnormal '-0.260303'
[E 17:24:09.723] Speed abnormal '-0.936867'
[E 17:24:09.816] Speed abnormal '-0.963795'
[E 17:24:09.943] Speed abnormal '-0.571096'
[E 17:24:28.931] Speed abnormal '-0.241229'
[E 17:24:29.026] Speed abnormal '-0.455531'
[E 17:24:31.483] Speed abnormal '-0.223277'
[E 17:24:37.455] Speed abnormal '-0.65188'
[E 17:24:37.561] Speed abnormal '-0.839253'
[E 17:24:37.664] Speed abnormal '-0.868425'
[E 17:24:37.746] Speed abnormal '-0.670954'
[E 17:24:39.528] Speed abnormal '-0.01122'
[E 17:25:01.396] Speed abnormal '-0.672076'
[E 17:25:01.484] Speed abnormal '-0.382601'
[E 17:29:28.815] Speed abnormal '-0.581194'
[E 17:29:29.541] Speed abnormal '-0.884133'
[E 17:29:29.641] Speed abnormal '-1.15453'
[E 17:29:29.746] Speed abnormal '-0.838131'
[E 17:29:29.865] Speed abnormal '-0.381479'
[E 17:29:32.080] Speed abnormal '-0.243473'
[E 17:29:32.192] Speed abnormal '-1.70095'
[E 17:29:32.286] Speed abnormal '-1.4485'
[E 17:29:33.065] Speed abnormal '-0.523972'
[E 17:29:33.158] Speed abnormal '-0.362405'
[I 17:30:28.811] [mw] openRealtime
[I 17:30:28.851] [mw] openRealtime
[E 17:35:42.120] Speed abnormal '-0.375869'
[E 17:35:42.214] Speed abnormal '-0.401675'
[E 17:35:42.305] Speed abnormal '-0.356795'
[E 17:35:42.509] Speed abnormal '-0.338843'
[E 17:35:42.898] Speed abnormal '-0.355673'
[E 17:35:42.998] Speed abnormal '-0.47797'
[E 17:35:43.091] Speed abnormal '-0.582316'
[E 17:35:43.200] Speed abnormal '-0.486946'
[E 17:35:43.687] Speed abnormal '-0.414017'
[E 17:35:43.771] Speed abnormal '-0.291719'
[E 17:35:44.073] Speed abnormal '-0.592414'
[E 17:35:44.168] Speed abnormal '-0.55651'
[E 17:35:44.257] Speed abnormal '-0.290597'
[E 17:35:44.464] Speed abnormal '-0.482458'
[E 17:35:44.557] Speed abnormal '-0.67993'
[E 17:35:44.676] Speed abnormal '-0.638416'
[E 17:35:45.633] Speed abnormal '-0.73603'
[E 17:35:45.724] Speed abnormal '-0.915549'
[E 17:35:45.839] Speed abnormal '-0.549778'
[E 17:35:46.623] Speed abnormal '-0.502654'
[E 17:35:46.754] Speed abnormal '-0.915549'
[E 17:35:46.807] Speed abnormal '-0.673198'
[E 17:35:47.112] Speed abnormal '-0.238985'
[E 17:35:47.225] Speed abnormal '-0.982869'
[E 17:37:41.999] Speed abnormal '-0.012342'
[E 17:37:42.486] Speed abnormal '-0.143616'
[E 17:37:42.579] Speed abnormal '-1.73348'
[E 17:37:42.665] Speed abnormal '-2.24287'
[E 17:37:43.168] Speed abnormal '-1.39913'
[E 17:37:43.266] Speed abnormal '-1.70431'
[E 17:37:43.362] Speed abnormal '-0.69676'
[E 17:38:14.051] Speed abnormal '-0.237863'
[E 17:38:18.169] Speed abnormal '-0.0201959'
[E 17:38:21.001] Speed abnormal '-0.001122'
[E 17:38:23.750] Speed abnormal '-0.012342'
[E 17:38:40.795] Speed abnormal '-0.582316'
[E 17:38:40.956] Speed abnormal '-0.711346'
[E 17:38:40.978] Speed abnormal '-0.848229'
[E 17:38:41.133] Speed abnormal '-0.656368'
[E 17:38:42.029] Speed abnormal '-0.391577'
[E 17:38:42.056] Speed abnormal '-0.847107'
[E 17:38:42.212] Speed abnormal '-0.917793'
[E 17:38:42.272] Speed abnormal '-1.21624'
[E 17:38:42.424] Speed abnormal '-1.13434'
[E 17:38:42.479] Speed abnormal '-0.475726'
[E 17:38:43.149] Speed abnormal '-0.912183'
[E 17:38:43.254] Speed abnormal '-1.51918'
[E 17:38:43.349] Speed abnormal '-2.04877'
[E 17:38:43.445] Speed abnormal '-1.76041'
[E 17:38:43.538] Speed abnormal '-0.645148'
[E 17:38:44.037] Speed abnormal '-0.491434'
[E 17:38:44.134] Speed abnormal '-0.774178'
[E 17:38:44.249] Speed abnormal '-0.76969'
[E 17:38:44.334] Speed abnormal '-0.55651'
[E 17:38:44.434] Speed abnormal '-0.56212'
[E 17:38:44.564] Speed abnormal '-0.327623'
[E 17:38:45.319] Speed abnormal '-0.481336'
[E 17:38:45.416] Speed abnormal '-1.31835'
[E 17:38:45.510] Speed abnormal '-1.42381'
[E 17:38:49.032] Speed abnormal '-0.410651'
[E 17:38:49.136] Speed abnormal '-0.516118'
[E 17:38:49.235] Speed abnormal '-0.564364'
[E 17:38:49.326] Speed abnormal '-0.268157'
[E 17:38:52.076] Speed abnormal '-0.927891'
[E 17:38:52.164] Speed abnormal '-1.00306'
[E 17:38:52.258] Speed abnormal '-0.658612'
[E 17:40:22.462] Speed abnormal '-0.365771'
[E 17:40:23.042] Speed abnormal '-0.383723'
[E 17:40:23.556] Speed abnormal '-0.430847'
[E 17:40:24.026] Speed abnormal '-0.293963'
[E 17:40:26.576] Speed abnormal '-0.243473'
[E 17:40:32.366] Speed abnormal '-0.102102'
[E 17:45:59.286] Speed abnormal '-0.704614'
[E 17:45:59.368] Speed abnormal '-1.0098'
[E 17:45:59.470] Speed abnormal '-1.00194'
[E 17:45:59.562] Speed abnormal '-0.879645'
[E 17:45:59.678] Speed abnormal '-0.945843'
[E 17:45:59.769] Speed abnormal '-0.163811'
[E 17:46:01.427] Speed abnormal '-0.124542'
[E 17:52:08.555] Speed abnormal '-0.458897'
[E 17:52:11.015] Speed abnormal '-0.001122'
[E 17:52:31.886] Speed abnormal '-0.326501'
[E 17:52:56.194] Speed abnormal '-0.61822'
[E 17:52:56.291] Speed abnormal '-0.797739'
[E 17:52:56.400] Speed abnormal '-0.944721'
[E 17:52:56.495] Speed abnormal '-0.65188'
[E 17:52:56.585] Speed abnormal '-0.442067'
[E 17:52:56.673] Speed abnormal '-0.396065'
[E 17:52:56.882] Speed abnormal '-0.242351'
[E 17:52:57.181] Speed abnormal '-0.605878'
[E 17:52:57.274] Speed abnormal '-0.968283'
[E 17:52:57.368] Speed abnormal '-1.27459'
[E 17:52:57.461] Speed abnormal '-1.38679'
[E 17:52:57.567] Speed abnormal '-0.59017'
[E 17:52:57.669] Speed abnormal '-0.439823'
[E 17:53:00.995] Speed abnormal '-0.222155'
[E 17:53:01.089] Speed abnormal '-0.57895'
[E 17:53:01.390] Speed abnormal '-0.233375'
[E 17:53:01.482] Speed abnormal '-0.508264'
[E 17:53:01.682] Speed abnormal '-0.360161'
[E 17:53:01.775] Speed abnormal '-0.372503'
[E 17:53:02.173] Speed abnormal '-0.704614'
[E 17:53:02.279] Speed abnormal '-0.681052'
[E 17:53:08.945] Speed abnormal '-0.15708'
[E 17:53:09.043] Speed abnormal '-0.189617'
[E 17:53:18.367] Speed abnormal '-0.170543'
[E 17:57:37.800] Speed abnormal '-0.656368'
[E 17:57:37.887] Speed abnormal '-0.734908'
[E 17:57:38.014] Speed abnormal '-0.608122'
[E 17:57:38.129] Speed abnormal '-0.636172'
[E 17:57:38.194] Speed abnormal '-0.656368'
[E 17:57:38.293] Speed abnormal '-0.372503'
[E 18:06:50.489] Speed abnormal '-0.167177'
[E 18:07:07.450] Speed abnormal '-0.126786'
[E 18:07:07.623] Speed abnormal '-0.987357'
[E 18:07:07.739] Speed abnormal '-1.51918'
[E 18:07:07.835] Speed abnormal '-1.68299'
[E 18:07:07.918] Speed abnormal '-1.81988'
[E 18:07:08.014] Speed abnormal '-1.82212'
[E 18:07:08.126] Speed abnormal '-1.90066'
[E 18:07:08.225] Speed abnormal '-1.83559'
[E 18:07:08.313] Speed abnormal '-0.59017'
[E 18:07:08.409] Speed abnormal '-0.538558'
[E 18:07:09.776] Speed abnormal '-0.001122'
[E 18:07:10.499] Speed abnormal '-0.323135'
[E 18:07:32.245] Speed abnormal '-0.161567'
[E 18:09:09.220] Speed abnormal '-0.153714'
[E 18:09:10.737] Speed abnormal '-0.279377'
[E 18:09:58.777] Speed abnormal '-0.516118'
[E 18:14:43.090] Speed abnormal '-0.57334'
[E 18:14:43.173] Speed abnormal '-0.768568'
[E 18:14:43.269] Speed abnormal '-0.633928'
[E 18:14:43.377] Speed abnormal '-0.61822'
[E 18:14:43.466] Speed abnormal '-0.582316'
[E 18:14:43.570] Speed abnormal '-0.767446'
[E 18:14:43.657] Speed abnormal '-0.849351'
[E 18:14:43.765] Speed abnormal '-0.828033'
[E 18:14:43.864] Speed abnormal '-0.610366'
[E 18:14:46.505] Speed abnormal '-1.10965'
[E 18:14:46.595] Speed abnormal '-1.80193'
[E 18:14:46.706] Speed abnormal '-1.57528'
[E 18:14:46.800] Speed abnormal '-0.215423'
[E 18:14:49.256] Speed abnormal '-0.861693'
[E 18:14:49.348] Speed abnormal '-0.922281'
[E 18:14:49.475] Speed abnormal '-0.915549'
[E 18:14:49.542] Speed abnormal '-0.510508'
[E 18:14:51.116] Speed abnormal '-0.520606'
[E 18:14:51.218] Speed abnormal '-1.04794'
[E 18:14:51.311] Speed abnormal '-1.28805'
[E 18:14:51.416] Speed abnormal '-1.5966'
[E 18:14:51.513] Speed abnormal '-1.57304'
[E 18:14:51.609] Speed abnormal '-0.352307'
[E 18:14:52.030] Speed abnormal '-0.307427'
[E 18:14:52.082] Speed abnormal '-0.815691'
[E 18:14:52.195] Speed abnormal '-0.359039'
[E 18:15:33.581] Speed abnormal '-0.475726'
[E 18:15:33.668] Speed abnormal '-0.415139'
[E 18:15:34.557] Speed abnormal '-0.486946'
[E 18:15:34.750] Speed abnormal '-0.178397'
[E 18:15:36.126] Speed abnormal '-0.300695'
[E 18:15:36.326] Speed abnormal '-0.54529'
[E 18:15:36.416] Speed abnormal '-0.519484'
[E 18:15:36.518] Speed abnormal '-0.577828'
[E 18:15:36.614] Speed abnormal '-0.547534'
[E 18:15:36.716] Speed abnormal '-0.488068'
[E 18:15:36.813] Speed abnormal '-0.402797'
[E 18:15:37.299] Speed abnormal '-0.431969'
[E 18:15:37.386] Speed abnormal '-0.335477'
[E 18:17:28.003] Speed abnormal '-1.78734'
[E 18:17:28.086] Speed abnormal '-1.58875'
[E 18:17:28.586] Speed abnormal '-1.13322'
[E 18:17:28.681] Speed abnormal '-2.72309'
[E 18:17:28.775] Speed abnormal '-3.68912'
[E 18:17:28.855] Speed abnormal '-2.30458'
[E 18:17:31.624] Speed abnormal '-0.307427'
[E 18:17:32.017] Speed abnormal '-0.182885'
[E 18:17:32.105] Speed abnormal '-0.216545'
[E 18:20:27.012] Speed abnormal '-0.398309'
[E 18:20:27.118] Speed abnormal '-0.703492'
[E 18:20:27.212] Speed abnormal '-0.923403'
[E 18:20:27.298] Speed abnormal '-0.969405'
[E 18:20:27.397] Speed abnormal '-0.61261'
[E 18:20:32.792] Speed abnormal '-0.393821'
[E 18:20:32.908] Speed abnormal '-0.622708'
[E 18:20:34.075] Speed abnormal '-0.574462'
[E 18:20:35.252] Speed abnormal '-0.47797'
[E 18:20:35.351] Speed abnormal '-0.753982'
[E 18:20:35.492] Speed abnormal '-0.835887'
[E 18:20:35.563] Speed abnormal '-0.63505'
[E 18:20:35.647] Speed abnormal '-0.417383'
[E 18:20:35.739] Speed abnormal '-0.192983'
[I 18:23:56.556] [mw] openRealtime
[I 18:23:56.565] [mw] openRealtime
[I 18:27:04.981] [mw] openRealtime
[I 18:27:05.008] [mw] openRealtime
[E 18:29:25.384] Speed abnormal '-0.305183'
[E 18:29:29.900] Speed abnormal '-0.445433'
[E 18:29:29.993] Speed abnormal '-0.555388'
[E 18:29:30.086] Speed abnormal '-0.587926'
[E 18:29:30.233] Speed abnormal '-0.628318'
[E 18:29:30.290] Speed abnormal '-0.563242'
[E 18:29:30.383] Speed abnormal '-0.589048'
[E 18:29:30.531] Speed abnormal '-0.630562'
[E 18:29:30.590] Speed abnormal '-0.507142'
[E 18:29:30.682] Speed abnormal '-0.474604'
[E 18:29:30.841] Speed abnormal '-0.383723'
[E 18:29:32.723] Speed abnormal '-0.302939'
[E 18:29:33.323] Speed abnormal '-0.378113'
[E 18:29:33.470] Speed abnormal '-0.398309'
[E 18:29:33.531] Speed abnormal '-0.574462'
[E 18:29:33.621] Speed abnormal '-0.605878'
[E 18:29:33.771] Speed abnormal '-0.602512'
[E 18:29:33.802] Speed abnormal '-0.501532'
[E 18:29:33.951] Speed abnormal '-0.480214'
[E 18:29:34.012] Speed abnormal '-0.617098'
[E 18:29:34.164] Speed abnormal '-0.491434'
[E 18:29:34.194] Speed abnormal '-0.409529'
[E 18:29:58.522] Speed abnormal '-0.415139'
[E 18:29:58.616] Speed abnormal '-0.419627'
[E 18:29:58.710] Speed abnormal '-0.501532'
[E 18:29:59.105] Speed abnormal '-0.581194'
[E 18:29:59.217] Speed abnormal '-0.738274'
[E 18:29:59.313] Speed abnormal '-0.899841'
[E 18:29:59.407] Speed abnormal '-1.05804'
[E 18:29:59.491] Speed abnormal '-1.17024'
[E 18:29:59.609] Speed abnormal '-0.898719'
[E 18:29:59.708] Speed abnormal '-0.678808'
[E 18:29:59.787] Speed abnormal '-0.417383'
[E 18:30:56.852] Speed abnormal '-0.282743'
[E 18:30:56.933] Speed abnormal '-0.457775'
[E 18:30:57.054] Speed abnormal '-0.675442'
[E 18:30:57.182] Speed abnormal '-0.988479'
[E 18:30:57.243] Speed abnormal '-1.18146'
[E 18:30:57.356] Speed abnormal '-1.38118'
[E 18:30:57.451] Speed abnormal '-1.38567'
[E 18:30:57.543] Speed abnormal '-1.26786'
[E 18:30:57.632] Speed abnormal '-1.00082'
[E 18:30:57.744] Speed abnormal '-0.722566'
[E 18:30:57.841] Speed abnormal '-0.536314'
[E 18:30:59.411] Speed abnormal '-0.676564'
[E 18:30:59.496] Speed abnormal '-1.06926'
[E 18:30:59.604] Speed abnormal '-1.22073'
[E 18:30:59.695] Speed abnormal '-1.22859'
[E 18:30:59.792] Speed abnormal '-0.886377'
[E 18:30:59.901] Speed abnormal '-0.261425'
[E 18:31:00.993] Speed abnormal '-0.497044'
[E 18:31:01.075] Speed abnormal '-0.363527'
[E 18:31:02.099] Speed abnormal '-0.543046'
[E 18:31:02.155] Speed abnormal '-0.55651'
[E 18:31:04.980] Speed abnormal '-0.408407'
[E 18:31:05.093] Speed abnormal '-0.779788'
[E 18:31:05.191] Speed abnormal '-1.122'
[E 18:31:05.285] Speed abnormal '-1.5708'
[E 18:31:05.408] Speed abnormal '-2.16321'
[E 18:31:05.524] Speed abnormal '-2.53683'
[E 18:31:05.581] Speed abnormal '-2.52561'
[E 18:31:05.676] Speed abnormal '-2.43249'
[E 18:31:05.782] Speed abnormal '-2.15087'
[E 18:31:05.882] Speed abnormal '-1.6325'
[E 18:31:05.969] Speed abnormal '-1.12536'
[E 18:31:06.118] Speed abnormal '-0.446555'
[E 18:31:17.155] Speed abnormal '-0.0886377'
[E 18:31:26.948] Speed abnormal '-0.750616'
[E 18:31:27.061] Speed abnormal '-1.20054'
[E 18:31:27.154] Speed abnormal '-1.47767'
[E 18:31:27.241] Speed abnormal '-1.4182'
[E 18:31:27.356] Speed abnormal '-1.34527'
[E 18:31:27.446] Speed abnormal '-1.1781'
[E 18:31:27.550] Speed abnormal '-0.907695'
[E 18:31:27.637] Speed abnormal '-0.547534'
[E 18:31:29.026] Speed abnormal '-0.164933'
[E 18:31:31.565] Speed abnormal '-0.01122'
[E 18:31:31.653] Speed abnormal '-0.268157'
[E 18:31:31.767] Speed abnormal '-0.598024'
[E 18:31:31.855] Speed abnormal '-0.845985'
[E 18:31:31.953] Speed abnormal '-1.11751'
[E 18:31:32.080] Speed abnormal '-1.21512'
[E 18:31:32.154] Speed abnormal '-1.29142'
[E 18:31:32.246] Speed abnormal '-1.33293'
[E 18:31:32.344] Speed abnormal '-1.3464'
[E 18:31:32.435] Speed abnormal '-1.24205'
[E 18:31:32.545] Speed abnormal '-0.776422'
[E 18:31:32.641] Speed abnormal '-0.424115'
[E 18:31:37.439] Speed abnormal '-0.525094'
[E 18:31:37.533] Speed abnormal '-0.638416'
[E 18:31:37.681] Speed abnormal '-0.762958'
[E 18:31:37.736] Speed abnormal '-0.73042'
[E 18:31:37.834] Speed abnormal '-0.50041'
[E 18:31:37.927] Speed abnormal '-0.427481'
[E 18:31:38.129] Speed abnormal '-0.199715'
[E 18:31:42.540] Speed abnormal '-0.486946'
[E 18:31:42.635] Speed abnormal '-0.431969'
[E 18:32:42.033] Speed abnormal '-0.61822'
[E 18:32:42.126] Speed abnormal '-0.784276'
[E 18:32:42.215] Speed abnormal '-0.742762'
[E 18:32:42.326] Speed abnormal '-0.449921'
[E 18:32:42.424] Speed abnormal '-0.258059'
[E 18:32:43.118] Speed abnormal '-0.209813'
[E 18:32:43.302] Speed abnormal '-0.298451'
[E 18:32:43.798] Speed abnormal '-0.292841'
[E 18:32:43.901] Speed abnormal '-0.452165'
[E 18:32:44.187] Speed abnormal '-0.451043'
[E 18:32:44.284] Speed abnormal '-0.484702'
[I 18:33:57.011] Maximum record size reached, stopping record
[I 18:33:57.015] static void Utils::unlockCpu()
[I 18:33:57.055] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.s'
[I 18:33:57.748] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r'
[I 18:33:57.752] Record /storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r stopped
[I 18:33:57.766] [lfi] setting PositionSource.active to false
[I 18:33:57.781] notification: Maximum record size reached
[I 18:33:57.781] systemNotification: Maximum record size reached
[I 18:34:07.512] Automatically starting record after 10 seconds
[I 18:34:07.512] static void Utils::lockCpu()
[I 18:34:07.522] Record /storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.r started
[I 18:34:07.522] notification: Record started
[I 18:34:07.522] systemNotification: Record started
[I 18:34:07.545] [lfi] setting PositionSource.active to true
[E 18:34:57.969] Speed abnormal '-0.192983'
[E 18:35:28.543] Speed abnormal '-0.120054'
[E 18:36:14.737] Speed abnormal '-0.510508'
[E 18:36:15.734] Speed abnormal '-0.711346'
[E 18:36:15.803] Speed abnormal '-0.677686'
[E 18:36:15.924] Speed abnormal '-0.631684'
[E 18:36:16.022] Speed abnormal '-0.411773'
[E 18:36:32.974] Speed abnormal '-0.482458'
[E 18:36:34.555] Speed abnormal '-0.409529'
[E 18:36:45.805] Speed abnormal '-0.5509'
[E 18:36:46.021] Speed abnormal '-0.262547'
[E 18:36:46.109] Speed abnormal '-0.263669'
[I 18:51:10.724] [mw] openRealtime
[I 18:51:10.729] [mw] openRealtime
[I 18:54:28.371] [rt] exit
[I 18:54:28.390] [records] enter
[I 18:54:30.591] static void Utils::unlockCpu()
[I 18:54:30.609] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.s'
[I 18:54:30.721] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.r'
[I 18:54:30.722] Record /storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.r stopped
[I 18:54:32.747] value: key=alias.EC8A9C8C71CF, value=
[I 18:54:33.182] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r', points=50001
[I 18:54:44.476] [auth] logged in, id: undefined
[I 18:54:44.477] Record never uploaded, uploading now
[I 18:54:53.051] Progress 2
[I 18:54:53.153] Progress 62
[I 18:54:53.253] Progress 97
[I 18:54:53.270] Progress 100
[I 18:54:59.979] Progress 100
[I 18:54:59.980] Progress 100
[I 18:54:59.980] Progress 0
[I 18:54:59.983] Record added, id=bI5kk
[I 18:54:59.986] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.s'
[I 18:55:00.082] [lfi] setting PositionSource.active to false
[I 18:56:00.846] [lfi] setting PositionSource.active to true
[I 18:56:02.903] value: key=alias.EC8A9C8C71CF, value=
[I 18:56:03.401] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r', points=50001
[I 18:56:06.600] [records] exit
[I 18:56:06.614] [fau] enter
[I 18:56:11.553] [fau] exit
[I 18:56:11.567] [records] enter
[I 18:56:17.454] value: key=alias.EC8A9C8C71CF, value=
[I 18:56:18.114] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r', points=50001
[I 18:56:48.762] [records] exit
[I 18:56:48.788] [fau] enter
[I 18:56:55.867] [fau] exit
[I 18:56:55.880] [records] enter
[I 18:57:00.818] value: key=alias.EC8A9C8C71CF, value=
[I 18:57:01.362] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r', points=50001
[I 18:57:17.933] [lfi] setting PositionSource.active to false
[I 18:57:17.933] [mw] openRealtime
[I 18:57:17.933] [records] exit
[I 18:57:17.941] [rt] enter
[I 18:57:17.974] [mw] openRealtime
[E 18:57:33.904] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 18:57:33.904] virtual void bluetooth::MetrPro::reset()
[I 18:57:33.905] virtual void bluetooth::Device::reset()
[I 18:57:33.907] virtual void bluetooth::Device::disjoin()
[I 18:57:33.907] disjoin: disconnectFromDevice
[I 18:57:33.907] onStateChanged: 0, service={0000fe59-0000-1000-8000-00805f9b34fb}
[I 18:57:33.907] onStateChanged: 0, service={6e400001-b5a3-f393-e0a9-e50e24dcca9e}
[I 18:57:33.908] Device went offline, saving stats
[I 18:57:33.908] Saving stats: stats.EC8A9C8C71CF
[I 18:57:33.908] void Settings::beginGroup(const QString &): prefix=stats.EC8A9C8C71CF
[I 18:57:33.908] setValue: key=totalDistance, value=635339.5235608303
[I 18:57:33.908] setValue: key=totalWh, value=9654.544499997364
[I 18:57:33.908] setValue: key=totalTime, value=96992536
[I 18:57:33.908] setValue: key=topSpeed, value=50
[I 18:57:33.908] setValue: key=averageSpeed, value=20.263827298997473
[I 18:57:33.909] setValue: key=averageSpeedSec, value=119326.0000001663
[I 18:57:33.909] void Settings::endGroup()
[I 18:57:33.909] Device went offline, saving stats
[I 18:57:33.909] Saving stats: today.stats.EC8A9C8C71CF
[I 18:57:33.909] void Settings::beginGroup(const QString &): prefix=today.stats.EC8A9C8C71CF
[I 18:57:33.909] setValue: key=today, value=1584196747088
[I 18:57:33.909] setValue: key=totalDistance, value=29688.54909833356
[I 18:57:33.911] setValue: key=totalWh, value=443.8828
[I 18:57:33.911] setValue: key=totalTime, value=5976637
[I 18:57:33.911] setValue: key=topSpeed, value=49.26574118214286
[I 18:57:33.911] setValue: key=averageSpeed, value=18.88210346241561
[I 18:57:33.911] setValue: key=averageSpeedSec, value=17141.9999999818
[I 18:57:33.911] void Settings::endGroup()
[I 18:57:33.911] Global.device went offline
[I 18:57:33.911] onDetectMultipleFinishedChanged false
[I 18:57:33.913] [si] allVESCsLen: 0
[I 18:57:33.922] onFwMajorChanged=0
[I 18:57:33.922] Destroying detector
[I 18:57:33.922] notification: Bluetooth disconnected
[I 18:57:33.922] systemNotification: Bluetooth disconnected
[I 18:57:33.931] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:57:33.932] void bluetooth::Device::init()
[I 18:57:33.967] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:57:33.967] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:57:33.967] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:57:33.967] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:57:33.967] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:57:33.967] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:57:34.928] Trying to reconnect...
[I 18:57:34.929] virtual void bluetooth::Device::join()
[E 18:58:04.955] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 18:58:04.955] virtual void bluetooth::MetrPro::reset()
[I 18:58:04.955] virtual void bluetooth::Device::reset()
[I 18:58:04.955] virtual void bluetooth::Device::disjoin()
[I 18:58:04.955] disjoin: disconnectFromDevice
[I 18:58:04.955] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:58:04.955] void bluetooth::Device::init()
[I 18:58:04.966] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:58:04.966] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:58:04.966] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:58:05.920] Trying to reconnect...
[I 18:58:05.921] virtual void bluetooth::Device::join()
[E 18:58:35.945] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 18:58:35.946] virtual void bluetooth::MetrPro::reset()
[I 18:58:35.946] virtual void bluetooth::Device::reset()
[I 18:58:35.946] virtual void bluetooth::Device::disjoin()
[I 18:58:35.946] disjoin: disconnectFromDevice
[I 18:58:35.946] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:58:35.946] void bluetooth::Device::init()
[I 18:58:35.956] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:58:35.956] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:58:35.957] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:58:36.913] Trying to reconnect...
[I 18:58:36.913] virtual void bluetooth::Device::join()
[E 18:59:06.935] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 18:59:06.935] virtual void bluetooth::MetrPro::reset()
[I 18:59:06.935] virtual void bluetooth::Device::reset()
[I 18:59:06.935] virtual void bluetooth::Device::disjoin()
[I 18:59:06.935] disjoin: disconnectFromDevice
[I 18:59:06.935] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:59:06.935] void bluetooth::Device::init()
[I 18:59:06.937] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:59:06.937] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:59:06.937] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:59:07.046] [lfi] setting PositionSource.active to true
[I 18:59:07.997] Trying to reconnect...
[I 18:59:07.997] virtual void bluetooth::Device::join()
[I 18:59:11.238] [rt] exit
[I 18:59:11.250] [records] enter
[I 18:59:22.276] value: key=alias.EC8A9C8C71CF, value=
[I 18:59:22.581] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.r', points=6073
[I 18:59:28.948] Record never uploaded, uploading now
[I 18:59:29.433] Progress 49
[I 18:59:29.447] Progress 100
[I 18:59:30.332] Progress 100
[I 18:59:30.333] Progress 100
[I 18:59:30.333] Progress 0
[I 18:59:30.335] Record added, id=i7oqb
[I 18:59:30.338] writeFile: writing '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.s'
[I 18:59:30.413] [lfi] setting PositionSource.active to false
[E 18:59:38.015] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 18:59:38.015] virtual void bluetooth::MetrPro::reset()
[I 18:59:38.015] virtual void bluetooth::Device::reset()
[I 18:59:38.015] virtual void bluetooth::Device::disjoin()
[I 18:59:38.015] disjoin: disconnectFromDevice
[I 18:59:38.015] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:59:38.015] void bluetooth::Device::init()
[I 18:59:38.019] virtual void bluetooth::MetrPro::onDisconnected()
[I 18:59:38.020] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 18:59:38.020] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 18:59:38.971] Trying to reconnect...
[I 18:59:38.971] virtual void bluetooth::Device::join()
[I 18:59:58.806] [lfi] setting PositionSource.active to true
[I 18:59:59.784] [mw] onBackPressed
[I 19:00:00.939] value: key=alias.EC8A9C8C71CF, value=
[I 19:00:01.229] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-18-34-07-517.r', points=6073
[I 19:00:01.533] [mw] onBackPressed
[I 19:00:02.078] value: key=alias.EC8A9C8C71CF, value=
[I 19:00:02.694] Loaded '/storage/emulated/0/Android/data/at.metr.app/files/20-03-14-15-41-40-803.r', points=50001
[I 19:00:03.702] Checking if record is on the server
[I 19:00:07.691] Yes it is
[I 19:00:07.764] [lfi] setting PositionSource.active to false
[E 19:00:08.977] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:00:08.977] virtual void bluetooth::MetrPro::reset()
[I 19:00:08.977] virtual void bluetooth::Device::reset()
[I 19:00:08.977] virtual void bluetooth::Device::disjoin()
[I 19:00:08.977] disjoin: disconnectFromDevice
[I 19:00:08.977] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:00:08.977] void bluetooth::Device::init()
[I 19:00:08.979] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:00:08.979] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:00:08.980] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:00:09.935] Trying to reconnect...
[I 19:00:09.935] virtual void bluetooth::Device::join()
[E 19:00:39.956] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:00:39.957] virtual void bluetooth::MetrPro::reset()
[I 19:00:39.957] virtual void bluetooth::Device::reset()
[I 19:00:39.957] virtual void bluetooth::Device::disjoin()
[I 19:00:39.957] disjoin: disconnectFromDevice
[I 19:00:39.957] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:00:39.957] void bluetooth::Device::init()
[I 19:00:39.968] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:00:39.969] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:00:39.969] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:00:40.927] Trying to reconnect...
[I 19:00:40.927] virtual void bluetooth::Device::join()
[I 19:01:06.941] [lfi] setting PositionSource.active to true
[E 19:01:10.945] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:01:10.945] virtual void bluetooth::MetrPro::reset()
[I 19:01:10.945] virtual void bluetooth::Device::reset()
[I 19:01:10.945] virtual void bluetooth::Device::disjoin()
[I 19:01:10.946] disjoin: disconnectFromDevice
[I 19:01:10.946] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:01:10.946] void bluetooth::Device::init()
[I 19:01:10.955] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:01:10.955] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:01:10.955] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:01:11.962] Trying to reconnect...
[I 19:01:11.962] virtual void bluetooth::Device::join()
[I 19:01:12.045] [records] exit
[I 19:01:12.072] [fau] enter
[I 19:01:16.206] [fau] exit
[I 19:01:16.220] [records] enter
[I 19:01:19.892] [lfi] setting PositionSource.active to false
[I 19:01:19.892] [mw] openRealtime
[I 19:01:19.892] [records] exit
[I 19:01:19.899] [rt] enter
[I 19:01:19.945] [mw] openRealtime
[E 19:01:41.986] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:01:41.986] virtual void bluetooth::MetrPro::reset()
[I 19:01:41.986] virtual void bluetooth::Device::reset()
[I 19:01:41.986] virtual void bluetooth::Device::disjoin()
[I 19:01:41.986] disjoin: disconnectFromDevice
[I 19:01:41.987] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:01:41.987] void bluetooth::Device::init()
[I 19:01:41.996] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:01:41.997] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:01:41.997] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:01:42.954] Trying to reconnect...
[I 19:01:42.954] virtual void bluetooth::Device::join()
[E 19:02:12.972] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:02:12.973] virtual void bluetooth::MetrPro::reset()
[I 19:02:12.973] virtual void bluetooth::Device::reset()
[I 19:02:12.973] virtual void bluetooth::Device::disjoin()
[I 19:02:12.973] disjoin: disconnectFromDevice
[I 19:02:12.974] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:02:12.974] void bluetooth::Device::init()
[I 19:02:12.983] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:02:12.983] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:02:12.983] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:02:13.929] Trying to reconnect...
[I 19:02:13.929] virtual void bluetooth::Device::join()
[E 19:02:43.945] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:02:43.946] virtual void bluetooth::MetrPro::reset()
[I 19:02:43.946] virtual void bluetooth::Device::reset()
[I 19:02:43.946] virtual void bluetooth::Device::disjoin()
[I 19:02:43.946] disjoin: disconnectFromDevice
[I 19:02:43.946] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:02:43.946] void bluetooth::Device::init()
[I 19:02:43.953] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:02:43.953] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:02:43.954] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:02:44.905] Trying to reconnect...
[I 19:02:44.906] virtual void bluetooth::Device::join()
[E 19:03:14.920] void bluetooth::Device::onError(QLowEnergyController::Error): error=5, uuid=EC8A9C8C71CF
[I 19:03:14.920] virtual void bluetooth::MetrPro::reset()
[I 19:03:14.921] virtual void bluetooth::Device::reset()
[I 19:03:14.921] virtual void bluetooth::Device::disjoin()
[I 19:03:14.921] disjoin: disconnectFromDevice
[I 19:03:14.921] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:03:14.921] void bluetooth::Device::init()
[I 19:03:14.933] virtual void bluetooth::MetrPro::onDisconnected()
[I 19:03:14.933] virtual void bluetooth::Device::onDisconnected(): uuid=EC8A9C8C71CF
[I 19:03:14.933] void bluetooth::MetrPro::setDfu(bool), dfu=false
[I 19:03:15.881] Trying to reconnect...
[I 19:03:15.881] virtual void bluetooth::Device::join()