Polling estimate velocity in sensorless mode

Hi, didn’t have any luck with this on the Discord server so I’ll try here.

I’m trying to find a way to poll estimate velocity in sensorless mode. The vel_estimate needs an encoder so not relevant.

I’m controlling multiple ODrive’s from an Arduino Mega and I need a way to “check in” on each motor to see what it’s doing.

does axis.sensorless_estimator not have a velocity estimate?

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As towen suggests, vel_estimate picks up the data from sensorless in that mode.

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Thanks. When I posted this I wasn’t aware of the developer reference.

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