- rpmcalib17amp.jpg (77.39 KiB) Viewed 4934 times
- clcalib20amp.jpg (138.31 KiB) Viewed 4934 times
I stopped at 20A as I think it should be plenty for my hexa. Should I then set MAX_CURRENT to 20A or should I set it to 24A as indicated as max current usage in the calibration (Duty 65 to 95, MAX current = 23.427700) ?
The noise/stop issue disappeared when I set ADVANCE to 24 degres.
I entered the FF and CL values into the ESC32 wrote config, rebooted, verified the config parameters and ran from 1000 RPM to MAX RPM, and didnt have any disarms or issues so I guess it should be good.
Here is the whole calibrations dialog:
trsk@prometheus:~/esc32-read-only/ground$ sudo ./esc32Cal --r2v -p /dev/ttyUSB0 -a 17 -t rpmcalib17.txt
Starting...
Reducing RPM...
RPM VOLTS AMPS
402 0.67 0.02
676 1.01 0.03
911 1.34 0.03
1121 1.68 0.04
1312 2.01 0.07
1491 2.35 0.09
1658 2.68 0.10
1820 3.01 0.13
1977 3.35 0.16
2118 3.68 0.19
2261 4.01 0.23
2394 4.35 0.28
2537 4.68 0.32
2676 5.01 0.38
2811 5.34 0.44
2962 5.68 0.52
3111 6.01 0.60
3271 6.34 0.69
3417 6.66 0.78
3563 6.99 0.89
3716 7.32 1.04
3865 7.65 1.16
4003 7.97 1.32
4148 8.30 1.47
4287 8.62 1.65
4450 8.94 1.84
4591 9.26 2.03
4728 9.59 2.25
4861 9.90 2.47
4991 10.22 2.71
5134 10.54 2.97
5269 10.86 3.20
5412 11.17 3.52
5536 11.48 3.80
5666 11.79 4.06
5785 12.10 4.39
5921 12.42 4.63
6042 12.72 5.01
6151 13.03 5.46
6282 13.34 5.74
6394 13.64 6.14
6532 13.94 6.59
6642 14.24 7.09
6757 14.54 7.62
6878 14.84 8.15
6986 15.13 8.78
7086 15.40 9.49
7155 15.63 10.29
7168 15.69 10.47
Stopping...
Calculating...
#define DEFAULT_FF1TERM +7.301604e-08
#define DEFAULT_FF2TERM +1.667140e-03
trsk@prometheus:~/esc32-read-only/ground$ sudo ./esc32Cal --cl -p /dev/ttyUSB0 -a 20 -t clcalib20amp.txt
Starting...
Duty 10 to 15, MAX current = 0.088227
Duty 10 to 20, MAX current = 1.391953
Duty 10 to 25, MAX current = 4.009330
Duty 10 to 30, MAX current = 7.057916
Duty 10 to 35, MAX current = 9.768599
Duty 10 to 40, MAX current = 12.539329
Duty 10 to 45, MAX current = 15.568031
Duty 10 to 50, MAX current = 19.406012
Duty 10 to 55, MAX current = 22.719110
Duty 15 to 20, MAX current = 0.147404
Duty 15 to 25, MAX current = 1.714379
Duty 15 to 30, MAX current = 4.549721
Duty 15 to 35, MAX current = 7.429404
Duty 15 to 40, MAX current = 10.312768
Duty 15 to 45, MAX current = 13.242645
Duty 15 to 50, MAX current = 17.095446
Duty 15 to 55, MAX current = 19.979635
Duty 15 to 60, MAX current = 23.237597
Duty 20 to 25, MAX current = 0.333902
Duty 20 to 30, MAX current = 2.303249
Duty 20 to 35, MAX current = 5.258333
Duty 20 to 40, MAX current = 8.227436
Duty 20 to 45, MAX current = 11.005336
Duty 20 to 50, MAX current = 14.152183
Duty 20 to 55, MAX current = 17.651812
Duty 20 to 60, MAX current = 21.474802
Duty 25 to 30, MAX current = 0.729860
Duty 25 to 35, MAX current = 3.149206
Duty 25 to 40, MAX current = 6.093532
Duty 25 to 45, MAX current = 9.040165
Duty 25 to 50, MAX current = 11.920637
Duty 25 to 55, MAX current = 15.473623
Duty 25 to 60, MAX current = 18.529440
Duty 25 to 65, MAX current = 21.753944
Duty 30 to 35, MAX current = 1.282032
Duty 30 to 40, MAX current = 3.924717
Duty 30 to 45, MAX current = 7.190037
Duty 30 to 50, MAX current = 9.897977
Duty 30 to 55, MAX current = 12.816766
Duty 30 to 60, MAX current = 15.821649
Duty 30 to 65, MAX current = 19.659962
Duty 30 to 70, MAX current = 22.409637
Duty 35 to 40, MAX current = 1.855629
Duty 35 to 45, MAX current = 4.684262
Duty 35 to 50, MAX current = 7.850521
Duty 35 to 55, MAX current = 10.708054
Duty 35 to 60, MAX current = 13.860815
Duty 35 to 65, MAX current = 17.198177
Duty 35 to 70, MAX current = 20.793568
Duty 40 to 45, MAX current = 2.559983
Duty 40 to 50, MAX current = 5.116539
Duty 40 to 55, MAX current = 8.502583
Duty 40 to 60, MAX current = 11.236608
Duty 40 to 65, MAX current = 14.763440
Duty 40 to 70, MAX current = 17.814177
Duty 40 to 75, MAX current = 20.955698
Duty 45 to 50, MAX current = 3.046742
Duty 45 to 55, MAX current = 5.995247
Duty 45 to 60, MAX current = 9.144241
Duty 45 to 65, MAX current = 12.147788
Duty 45 to 70, MAX current = 15.589238
Duty 45 to 75, MAX current = 18.992737
Duty 45 to 80, MAX current = 22.123852
Duty 50 to 55, MAX current = 3.801076
Duty 50 to 60, MAX current = 6.756445
Duty 50 to 65, MAX current = 9.531781
Duty 50 to 70, MAX current = 12.759698
Duty 50 to 75, MAX current = 15.835948
Duty 50 to 80, MAX current = 20.042881
Duty 55 to 60, MAX current = 4.178757
Duty 55 to 65, MAX current = 7.418782
Duty 55 to 70, MAX current = 10.352227
Duty 55 to 75, MAX current = 13.636575
Duty 55 to 80, MAX current = 16.680305
Duty 55 to 85, MAX current = 21.181316
Duty 60 to 65, MAX current = 4.616089
Duty 60 to 70, MAX current = 7.853380
Duty 60 to 75, MAX current = 10.741370
Duty 60 to 80, MAX current = 14.056462
Duty 60 to 85, MAX current = 18.178669
Duty 60 to 90, MAX current = 22.243423
Duty 65 to 70, MAX current = 5.307631
Duty 65 to 75, MAX current = 8.241235
Duty 65 to 80, MAX current = 11.644603
Duty 65 to 85, MAX current = 15.400360
Duty 65 to 90, MAX current = 19.505928
Duty 65 to 95, MAX current = 23.427700
Duty 70 to 75, MAX current = 6.020439
Duty 70 to 80, MAX current = 9.105597
Duty 70 to 85, MAX current = 12.594518
Duty 70 to 90, MAX current = 16.826923
Duty 70 to 95, MAX current = 21.610579
Duty 75 to 80, MAX current = 7.066339
Duty 75 to 85, MAX current = 10.307893
Duty 75 to 90, MAX current = 14.137042
Duty 75 to 95, MAX current = 19.049623
Duty 75 to 100, MAX current = 23.231773
Duty 80 to 85, MAX current = 7.821485
Duty 80 to 90, MAX current = 11.527440
Duty 80 to 95, MAX current = 16.176737
Duty 80 to 100, MAX current = 20.357504
Duty 85 to 90, MAX current = 8.836269
Duty 85 to 95, MAX current = 13.401230
Duty 85 to 100, MAX current = 17.772093
Duty 90 to 95, MAX current = 10.667800
Duty 90 to 100, MAX current = 14.650946
Stopping...
Calculating...
#define DEFAULT_CL1TERM +4.536045e-02
#define DEFAULT_CL2TERM +1.691868e-03
#define DEFAULT_CL3TERM -2.397337e-03
#define DEFAULT_CL4TERM +1.556321e-05
#define DEFAULT_CL5TERM +9.611021e-01
Here is a video of a previous calibration run for those interested
