EFeru/hoverboard-firmware-hack-FOC
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Fix #247

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EmanuelFeru
2022-01-01 13:47:42 +01:00
parent 669d227898
commit c71c102bc2
1 changed files with 3 additions and 3 deletions
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6
Src/util.c
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@@ -643,8 +643,8 @@ void updateCurSpdLim(void) {
void standstillHold(void) { void standstillHold(void) {
#if defined(STANDSTILL_HOLD_ENABLE) && (CTRL_TYP_SEL == FOC_CTRL) && (CTRL_MOD_REQ != SPD_MODE) #if defined(STANDSTILL_HOLD_ENABLE) && (CTRL_TYP_SEL == FOC_CTRL) && (CTRL_MOD_REQ != SPD_MODE)
if (!rtP_Left.b_cruiseCtrlEna) { // If Stanstill in NOT Active -> try Activation if (!rtP_Left.b_cruiseCtrlEna) { // If Stanstill in NOT Active -> try Activation
if (((input1[inIdx].cmd > 50 || input2[inIdx].cmd < -50) && speedAvgAbs < 30) // Check if Brake is pressed AND measured speed is small if ((input1[inIdx].cmd > 50 && speedAvgAbs < 30) // Check if Brake is pressed AND measured speed is small
|| (input2[inIdx].cmd < 20 && speedAvgAbs < 5)) { // OR Throttle is small AND measured speed is very small || (abs(input2[inIdx].cmd) < 20 && speedAvgAbs < 5)) { // OR Throttle is small AND measured speed is very small
rtP_Left.n_cruiseMotTgt = 0; rtP_Left.n_cruiseMotTgt = 0;
rtP_Right.n_cruiseMotTgt = 0; rtP_Right.n_cruiseMotTgt = 0;
rtP_Left.b_cruiseCtrlEna = 1; rtP_Left.b_cruiseCtrlEna = 1;
@@ -653,7 +653,7 @@ void standstillHold(void) {
} }
} }
else { // If Stanstill is Active -> try Deactivation else { // If Stanstill is Active -> try Deactivation
if (input1[inIdx].cmd < 20 && input2[inIdx].cmd > 50 && !cruiseCtrlAcv) { // Check if Brake is released AND Throttle is pressed AND no Cruise Control if (input1[inIdx].cmd < 20 && abs(input2[inIdx].cmd) > 50 && !cruiseCtrlAcv) { // Check if Brake is released AND Throttle is pressed AND no Cruise Control
rtP_Left.b_cruiseCtrlEna = 0; rtP_Left.b_cruiseCtrlEna = 0;
rtP_Right.b_cruiseCtrlEna = 0; rtP_Right.b_cruiseCtrlEna = 0;
standstillAcv = 0; standstillAcv = 0;