Vehicle is a skidsteer robot with Pixhawk autopilot. Autopilot drives left & right motors via PPM (driving duty cycle mode on the fsescs). Pack is 460Ah 15S LiFePO4 (i.e., 50v pack).
ESC: fsesc6.7
Motor: FreeRCHobby 6384 motor, 50Kv, 14 Poles w hall sensors. Motor connected to a 20" diameter lawn mower wheel through 16:1 reduction gearbox (from https://banebots.com/)
Firmware version BETA 55
My problem is that I am not getting as much torque at low RPM as I think I should. If I run the motor at 10% duty cycle and hold the motor it stalls showing only about 16-18 amps motor current. See from t=5999-6002:
On setup wizard I use Generic, Medium Outrunner and get the following results (for one side)
Under General settings I set motor current limits to +50 and -50.
Under FOC the Kp, Ki and Gain are:
First questions: Do these R, L, Ld-Lq, lambda, Kp and Ki numbers look right? Must I run the motor detection with the motor disconnected from gearbox and wheel?
Running in erpm mode at 1500 erpm, if I try to stop the motor by hand, I can't stop it - see from t=7177 to 7122; speed controller properly ramps duty cycle to maintain erpm.
Running at 1000 erpm, however, is a different story. The motor doesn't spin smoothly and rather jerks/cogs.