OpenFFBoard changes the Control Mode to IDLE on ODrive

[vallypopescu]

Hi,

I have an OpenFFBoard connected via CAN to an ODrive 3.6. Everything works on ODrive, CAN communication is ok but there is a problem: with the ODrive ready to go, set to torque control and in control loop mode, with the OpenFFBoard connected to ODrive via CAN but disconnected from PC, as soon as I plug in the FFBoard into PC USB, the ODrive state changes from Closed Loop Control (8) to Idle (1).
It doesn't let me to change the state from 1 to 8 on ODrive, unless I disconnect the FFBoard (unplug from PC USB).

[vallypopescu]

I figure it out if I power on first the Odrive and then I power on the OpenFFBoard, the state is changed to idle. If I power on the FFBoard first and then the ODrive, the state remains in closed control loop.

[Ultrawipf]

It triggers the initial calibration sequence. Maybe that is not required and depending on the odrive configuration it may fall into an error state.