Firmware version 0.4.7

[0.4.7] - 2018-11-28

Added

• Overspeed fault
• Current sense saturation fault.
• Supress startup transients by sampling encoder estimate into position setpoint when entering closed loop control.
• Make step dir gpio pins configurable.
• Configuration variable encoder.config.zero_count_on_find_idx, true by default. Set to false to leave the initial encoder count to be where the axis was at boot.
• Circular position setpoint mode: position setpoints wrapped [0, cpr). Useful for infinite incremental position control.
• Velocity setpoint ramping. Use velocity control mode, and set controller.vel_ramp_enable to true. This will ramp controller.vel_setpoint towards controller.vel_ramp_target at a ramp rate of controller.config.vel_ramp_rate.

Changed

• Increased switching frequency from around 8kHz to 24kHz. Control loops still run at 8kHz.
• Renamed axis.enable_step_dir to axis.step_dir_active
• New process for working with STM32CubeMX.

Fixed

• Would get ERROR_CONTROL_DEADLINE_MISSED along with every ERROR_PHASE_RESISTANCE_OUT_OF_RANGE.
• ODrive tool can now run interactive nested scripts with "%run -i script.py"