Fixed regression in sensorless braking

Author: vedderb

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		48
+#define FW_TEST_VERSION_NUMBER		49
 
 #include "datatypes.h"
 

mcpwm_foc.c

@@ -151,6 +151,7 @@ typedef struct {
 
 	float m_phase_before;
 	float m_duty_abs_filtered;
+	float m_duty_filtered;
 	bool m_was_full_brake;
 	bool m_was_control_duty;
 	float m_duty_i_term;
@@ -2637,9 +2638,12 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
 		float iq_set_tmp = motor_now->m_iq_set;
 		motor_now->m_motor_state.max_duty = conf_now->l_max_duty;
 
-		UTILS_LP_FAST(motor_now->m_duty_abs_filtered, fabsf(motor_now->m_motor_state.duty_now), 0.1);
+		UTILS_LP_FAST(motor_now->m_duty_abs_filtered, fabsf(motor_now->m_motor_state.duty_now), 0.01);
 		utils_truncate_number_abs((float*)&motor_now->m_duty_abs_filtered, 1.0);
 
+		UTILS_LP_FAST(motor_now->m_duty_filtered, motor_now->m_motor_state.duty_now, 0.01);
+		utils_truncate_number_abs((float*)&motor_now->m_duty_filtered, 1.0);
+
 		float duty_set = motor_now->m_duty_cycle_set;
 		bool control_duty = motor_now->m_control_mode == CONTROL_MODE_DUTY ||
 				motor_now->m_control_mode == CONTROL_MODE_OPENLOOP_DUTY ||
@@ -2650,7 +2654,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
 		// applying active braking. Use a bit of hysteresis when leaving
 		// the shorted mode.
 		if (motor_now->m_control_mode == CONTROL_MODE_CURRENT_BRAKE &&
-				motor_now->m_duty_abs_filtered < conf_now->l_min_duty * 1.5 &&
+				fabsf(motor_now->m_duty_filtered) < conf_now->l_min_duty * 1.5 &&
 				(motor_now->m_motor_state.i_abs * (motor_now->m_was_full_brake ? 1.0 : 1.5)) <
 				fminf(fabsf(iq_set_tmp), fabsf(conf_now->l_current_min))) {
 			control_duty = true;