That’s a normal message at reboot and can be safely ignored
Hi LuSeKa!
I’ve been trying to recreate the hoverbot (or ChIMP as well) and I am having one issue that doesn’t seem to be a problem for you in your project. Current control is mapped to set torque in the odrive. That would mean a constant acceleration. I tried to replace the RC part of the project with just direct serial communication, so for starters I just input 5. In the code, it seems to me that the variable “pwmDutyCycle_throttle” is constant if the user is keeping the encoder on the controller in a constant position. This for me means that the robot, given a constant input, is accelerating at a constant speed. It seems like that is not the case for you. It seems that the hoverbot reacts by keeping a constant speed in the videos, like what you would expect from an RC car. I can see that the ODrive is not set to have a velocity limit, so what am I missing that is causing my hoverbot to continuously accelerate? Have I misunderstood how the PWM signals work?