Telega v0.2 is released

01 February, 2019

Pavel Kirienko

CEO & CTO

Telega firmware v0.2 is now available for download from the file server. The firmware can be updated via CAN using the UAVCAN GUI Tool.

Changes from v0.1:

Improved stability, especially during rapid acceleration and deceleration.
Field weakening (flux weakening); please contact us for setup instructions – official documentation will be released later.
Fixed the power-up issue where the device would refuse to boot unless the power supply voltage slope is steep enough.
RPM control loop stability improvements.
Motor characterization improvements.
Faster boot-up – approx. 200 milliseconds from power on to ready to run.
Faster and more robust spin-up process.
Motor self-test at power-up is not performed by default; can be enabled via ctl.pwron_slftst.
Selectable spool-down policy: either controlled braking (default) or immediate power stage deactivation (set ctl.hard_stop).
Parameter renamings:
- m.spup_current_l → m.spup_curr_begn
- m.spup_current_h → m.spup_curr_end
- m.phi_milliweber → m.flux_linkage (change of units: milliweber → weber)
- m.rs_ohm → m.resistance
- m.ld_microhenry → m.induct_direct (change of units: microhenry → henry)
- m.lq_microhenry → m.induct_quad (change of units: microhenry → henry)
- m.eangvel_rampup → m.eangvel_accel
- m.eangvel_rampdn → m.eangvel_decel