voltage and current limiting handling bug #118

Author: askuric

src/BLDCMotor.cpp

@@ -42,11 +42,12 @@ void BLDCMotor::init() {
     // current control loop controls voltage
     PID_current_q.limit = voltage_limit;
     PID_current_d.limit = voltage_limit;
+  }
+  if(_isset(phase_resistance) || torque_controller != TorqueControlType::voltage){
     // velocity control loop controls current
     PID_velocity.limit = current_limit;
-  }else if(!current_sense && _isset(phase_resistance)){
-    PID_velocity.limit = current_limit;
   }else{
+    // velocity control loop controls the voltage
     PID_velocity.limit = voltage_limit;
   }
   P_angle.limit = velocity_limit;

src/common/defaults.h

@@ -28,7 +28,7 @@
 #define DEF_CURR_FILTER_Tf 0.005f //!< default currnet filter time constant
 #endif
 // default current limit values
-#define DEF_CURRENT_LIM 0.2f //!< 2Amps current limit by default
+#define DEF_CURRENT_LIM 2.0f //!< 2Amps current limit by default
 
 // default monitor downsample
 #define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample