microDRIVE LP/LPi Docs
Change Log
The firmware releases and their relevant change logs are shown below.
Versioning follows semantic versioning.
This release addresses the following ECNS:
- Over Temperature Response - is now set to Power Ramp by default
- Moved Settings -The following settings have been moved between basic and advanced
- Advanced -> Basic
- Overtemperature Ramp End Temperature (OVT_RAMP_TEMP)
- Ramp Up Rate (RAMP_UP_RT)
- Ramp Down Rate (RAMP_DWN_RT)
- Datalogging Frequency (LOG_FREQ)
- Datalogging Control (LOG_TYPE)
- Max Regeneration Current (REGEN_BUS_CUR)
- Basic -> Advanced
- Auto Timing Advance (AUTO_TIMING)
- Motor Temperature Sensor Enable (MOT_T_EN)
- RPM Limit Enable (RPM_LIM_EN)
- Prop Parking Enable (PARK_EN)
- Identify ESC - The configurator can now toggle a series of beeps and flashes to help identify which esc is being communicated with
- Logging over DroneCAN - Datalogs on the ESC can now be read over the DroneCAN tunnel
- Variable Logging Data - The following logging data columns can be enabled or disabled via settings to vary data retention length
- Log Phase Current (LOG_PHASE_CURR)
- Log Power (LOG_POWER)
- Log Voltage Ripple (LOG_RIPPLE)
- Log MCU Temperature (LOG_MCU_TEMP)
- Log Motor Temperature (LOG_MOT_TEMP), requires motor temperature sensor to be enabled
- Motor Parked - Prop parking triggers a flag in DroneCAN status and log warnings when the motor is parked
- DroneCan "DISARMED" debug messages are now only sent on state change, or when trying to throttle in a disarmed state
- Improved error handling reporting
- RPM now properly reports 0RPM rpm when throttle is zero
- Phase current properly reports 0A when throttle is zero
- DroneCAN Status RPM values now saturate at the max allowable by DroneCAN
- Various stability improvements
Subversion Releases:
- None
This patch release addresses the following ECNS:
- Over Temperature Ramp End Temperature setting now defaults to 105 degrees Celcius
- CAN Bus variable bitrate logic hardened to prevent watchdog restarts
Upgrading from firmware <v1.3.2 requires additional steps to upgrade to v2.0.0.
It is possible to downgrade to a v1.x.x firmware from v2.x.x firmware if the hardware supports it, however this update process must be followed whenever upgrading from v1 to v2.
Update process for <v1.3.2 to v2.0.0
- Update ESC firmware to >=v1.3.2, <v2.0.0
- Update ESC firmware to >=v2.0.0
- Prop Parking Speed - units have been changed to mechanical RPM
- Prop Parking Strength - setting has been split into two settings based on function
- Prop Parking Turning Strength - power applied to bridge when parking
- Prop Parking Stopping Strength - power applied to bridge when parked
- RPM Mode - New drive mode to set the motor to spin to a target speed setpoint (otherwise known as governor mode, speed control, heli mode, speed governor)
- Hargrave Configurator DroneCAN support* - Support for changing settings and applying presets from the Hargrave Configurator through DroneCAN devices (e.g. CubeOrange).
- DroneCAN variable baud rate support** - Support for common baudrates less than 1Mbps.
- CAN Terminator improvements
- CAN will disconnect from network if incompatible bit rate detected
Subversion Releases:
- 2.0.1 - CAN and Overtemperature Response Bug Fixes
* Requires Hargrave Configurator >=v1.4.0 ** Power cycling all ESCs is required between baud rate changes. It is recommended to setup esc configuration via usb or on a separate dronecan network before attaching to existing peripherals.
- Allow naming of ESC for log file identification.
- PTC setting option added.
- UART packet structure changes.
- Reversible drive mode improvements.
- DroneCAN boolean save logic reworked.
- Propeller parking sub-system improvements.
- Further starting improvements.
- Minor bug fixes.
Subversion Releases:
- 1.3.1 - Hardware compatibility update.
- 1.3.2 - 2.0.0 upgrade compatibility.
- Improvements to bus current calibration and reporting.
- Addition of regenerative current calibration.
- Motor temperature sensing range increased.
- Regenerative current range increased.
- Communications protocol changes for config tool.
Subversion Releases:
- None
- Default maximum switching frequency increased, improve starting performance.
- Temperature ramp setting limit increases.
- Add PTC motor temperature calculations.
- Add PWM jitter functionality.
- Calibration corrupt warning added.
- Allow DroneCAN updates when unit is in an error state.
Subversion Releases:
- 1.1.1 - Hardware compatibility update.
- Initial production release of microDRIVE firmware.
Subversion Releases:
- None