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Firmware Stable

Changelog

For the FALCON application.

[0.5.1]​

Fixed​

  • Revert back to default shortcircuit treshold for contactors.

[0.5.0]​

Added​

  • fan_mode parameter to enable or disable the embedded fan control.
  • Linear PTC support for the motor thermistor (PT100/PT1000, KTY81/KTY84): motortemp/thermistor_k > 0 is interpreted as 1/alpha [K].

Changed​

  • Renamed parameter motortemp/thermistor_beta to motortemp/thermistor_k (semantics extended: negative = NTC Beta [K], positive = PTC 1/alpha [K]); existing NTC configurations must migrate to the new parameter name.
  • Reworked the fan control strategy and fixed the positive-coefficient thermistor conversion.
  • ESC module updated to v5.2.0.
  • YOS module updated to v2.8.4.

Parameters​

  • Added: thermistor_k
  • Removed: thermistor_beta

[0.4.0]​

Added​

  • Motor temperature reading, with reporting over CAN.
  • Motor thermistor resistance-to-temperature conversion.

Changed​

  • Restructured the IoT CAN protocol and compressed the telemetry to two frames per ESC.
  • Fan control now switches off on error, plus general fan control refinements.
  • Extended the telemetry messages 0x600, 0x610, 0x620 and 0x630 to carry temperature data.
  • ESC module updated to v5.1.0.

Parameters​

  • Added: motortemp, thermistor_beta, thermistor_r0

[0.3.0]​

Added​

  • CAN control of the drive, with new CAN messages 0x600, 0x610, 0x620 and 0x630.
  • Prop docking sequence, including angle-based docking and a dock edge mode.
  • Preliminary embedded fan control (moved into its own module).
  • Quick-setup workflow via the setup button/pad, with an identification-only run option.
  • "Governor" mode (closed speed loop).
  • Emergency-stop trigger from a zero input signal.
  • Automatic CMIO re-initialization on error.

Changed​

  • Refined default values and control modes.
  • YOS module updated to v2.8.3.

Driver​

  • Enabled contactor voltage error detection (CMIO_CONTACTOR_VOLTAGE_ERROR).
  • Enabled speed control (SPEED_CTL).
  • Changed the default voltage filter (DRIVER_DEF_VCF) from 64 to 65.

Parameters​

  • Added: can, dock_level_polarity, estop, hold_max_cmd, max_cmd, ramp, voltage_thr

[0.2.0]​

Added​

  • Complete rework of the application, tailored for drone use, with a new project structure.
  • Quick-setup wizard.

Changed​

  • Reworked the parameter set around control modes and driver/safety options.
  • ESC module updated to v5.0.0.
  • YOS module updated to v2.7.3.
  • LIB module updated to v2.0.0.

Driver​

  • Enabled motor resistance measurement (MRES), resistance-measurement limiting (MRESLIM) and the run beep (RUNBEEP).
  • Disabled the battery current frequency feature (BCFQ) and MTPA (MTPA).

Parameters​

  • Added: ctl_brake_mode, ctl_mode, ctl_reverse_mode, drvopts, io, safetyopts
  • Removed: acc_mode, acclvl, brake_mode, brakelvl, gearthr, input, kph_fwd, kph_rev, mapchlpf, maps, mode_map_force, mode_maps_INPUT, odothr, power_map_force, power_maps_INPUT, pwr, reverse_mode, reverselvl, throttle_INPUT

[0.1.0]​

Added​

  • First public release of the reworked FALCON application.

Driver​

  • Enabled sin/cos encoder support (SINCOS).

Changed​

  • LIB module updated to v1.7.2.