Rename the sensor

Author: Candas1

src/encoders/flux_observer/FluxObserverSensor.cpp renamed to src/encoders/MXLEMMING_observer/MXLEMMINGObserverSensor.cpp

@@ -1,9 +1,9 @@
-#include "FluxObserverSensor.h"
+#include "MXLEMMINGObserverSensor.h"
 #include "common/foc_utils.h"
 #include "common/time_utils.h"
 
 
-FluxObserverSensor::FluxObserverSensor(const FOCMotor& m) : _motor(m)
+MXLEMMINGObserverSensor::MXLEMMINGObserverSensor(const FOCMotor& m) : _motor(m)
 {
   // Derive Flux linkage from KV_rating and pole_pairs
   if (_isset(_motor.pole_pairs) && _isset(_motor.KV_rating)){
@@ -12,7 +12,7 @@ FluxObserverSensor::FluxObserverSensor(const FOCMotor& m) : _motor(m)
 }
 
 
-void FluxObserverSensor::update() {
+void MXLEMMINGObserverSensor::update() {
   // Current sense is required for the observer
   if (!_motor.current_sense) return;
 
@@ -24,7 +24,6 @@ void FluxObserverSensor::update() {
   // Update sensor, with optional downsampling of update rate
   if (sensor_cnt++ < sensor_downsample) return;
 
-  // Close to zero speed the flux observer can resonate
   // Estimate the BEMF and exit if it's below the threshold 
   float bemf = _motor.voltage.q - _motor.phase_resistance * _motor.current.q; 
   if (abs(bemf) < bemf_threshold) return;
@@ -95,13 +94,13 @@ void FluxObserverSensor::update() {
 
 }
 
-void FluxObserverSensor::init(){
+void MXLEMMINGObserverSensor::init(){
   this->Sensor::init(); // call base class
 }
 
 /*
 	Shaft angle calculation
 */
-float FluxObserverSensor::getSensorAngle(){
+float MXLEMMINGObserverSensor::getSensorAngle(){
   return 0;
 }

src/encoders/flux_observer/FluxObserverSensor.h renamed to src/encoders/MXLEMMING_observer/MXLEMMINGObserverSensor.h

@@ -1,5 +1,5 @@
-#ifndef FLUX_OBSERVER_SENSOR_H
-#define FLUX_OBSERVER_SENSOR_H
+#ifndef MXLEMMING_OBSERVER_SENSOR_H
+#define MXLEMMING_OBSERVER_SENSOR_H
 
 #include "Arduino.h"
 #include "common/base_classes/FOCMotor.h"
@@ -9,14 +9,14 @@
   
 */
 
-class FluxObserverSensor : public Sensor
+class MXLEMMINGObserverSensor : public Sensor
 {
   public:
     /**
-    FluxObserverSensor class constructor
-    @param m  Motor that the FluxObserverSensor will be linked to
+    MXLEMMINGObserverSensor class constructor
+    @param m  Motor that the MXLEMMINGObserverSensor will be linked to
     */
-    FluxObserverSensor(const FOCMotor& m);
+    MXLEMMINGObserverSensor(const FOCMotor& m);
     void update() override;
 
     void init() override;

src/encoders/flux_observer/README.md renamed to src/encoders/MXLEMMING_observer/README.md

@@ -1,12 +1,12 @@
-# Flux Observer Sensor
+# MXLEMMING Observer Sensor
 
-The MXLEMMING has been ported from the MESC Firmware, it's also the default Flux observer in Vesc.
-The [MESC book](https://davidmolony.github.io/MESC_Firmware/operation/CONTROL.html#the-sensorless-observer) explains the math behind the flux observer.
+The MXLEMMING Obserser has been ported from the MESC Firmware, it's also the default Flux observer in Vesc firmware.
+The [MESC book](https://davidmolony.github.io/MESC_Firmware/operation/CONTROL.html#the-sensorless-observer) explains the math behind this flux observer.
 
 It's a simple solution for sensorless motor control only using phase currents and motor parameters, if tracking the position at low speed and when not driving the motor is not relevant.
 
 ### Motor Parameters:
-The MXLEMMING Flux Observer needs the following motor parameters to be set:
+The MXLEMMING Observer needs the following motor parameters to be set:
 - phase resistance
 - KV rating
 - phase inductance