VESC Firmware

The truncation of the val for the throttle curve has no effect because the absolute of it (val_a) is defined previously. So the truncation should be done before val_a is created.

float throttle_curve(float val, float curve_acc, float curve_brake, int mode) {
    float ret = 0.0;
    float val_a = fabsf(val); <-WRONG HERE

    if (val < -1.0) {
        val = -1.0;
    }

    if (val > 1.0) {
        val = 1.0;
    }

    <-BETTER HERE

mcpwm_foc.c line 2480:  utils_truncate_number(&i_term, -1.0, 1.0);

The i_term should not be truncated to 1.0, but rather to (1.0 - min(1.0, abs(p_term)) or something like that.

Reason: Reduce overshoot by truncating i_term to a lower value.

It seems like first detection stuck the motor for some reason, so it won't be able to detect from the first place!
U first need to set up the app, PPM for me. write default motor setting than run the motor a bit.
Than come back to motor detection! It works in both BLDC and FOC now,
Phew~

Update, FOC is detected but not working, for bizar reason it shorts the motor and making tiny sound. does not respond to ppm... well BLDC for a while I guess 

hi

maybe someone can compile 2 and 3miliohm 412hardware and 3.27firmware to experiment with mini vescs ?

thanks 

Is the 1e-20 in the second line a typo? In the old version this was 1e-10.
float utils_fast_atan2(float y, float x) {
    float abs_y = fabsf(y) + 1e-20; // kludge to prevent 0/0 condition
    float angle;