Driving Small Drone Outrunner Motor with Odrive3.6

1

Hello!

I am currently trying to use an ODrive 3.6 with a T-Motor F80 Pro 1900kv drone motor and an AMT102-v encoder in order to get good velocity control. I have it set up and the motor/encoder detection goes fine, but in velocity control mode as soon as it goes into closed loop control it starts to vibrate very fast and gets very hot. The same thing happens in torque control mode when inputting a torque command thats not 0.

I have tried de-tuning the velocity control loop to no avail, it seems to have quite the tendency to start vibrating instead of turning correctly, even at 0 velocity.

Is there any advice for params/tuning that can be done to control one of these style motors with an Odrive? Thanks!

2

That doesn’t sound right. Please post the values of:

controller.config.control_mode
controller.config.input_mode
3

Yep, here it is! At 0 input_torque, the motor is still (understandably), but inputting anything more (0.001+) Nm makes the motor vibrate instead of turn

In [5]: odrv0.axis1.controller.config.control_mode

Out[5]: 1

In [6]: odrv0.axis1.controller.config.input_mode

Out[6]: 1

4

Did you set enable_torque_mode_vel_limit = False?