[BUG] <title>foc feedforward #3047
Description
Description / Steps to reproduce the issue
the function foc_feedforward_pmsm_b16 in foc_feedforward.c, vdq_comp->q should use idq->d， not idq->q
/* NOTE: vdq_comp is substracted from vdq_ref in foc_current_control()
- so vq compensation must be negative here.
*/
vdq_comp->q = -b16mulb16(vel_now,
(phy->flux_link + b16mulb16(phy->ind,
idq->q)));
vdq_comp->d = b16mulb16(b16mulb16(vel_now, phy->ind), idq->q);
On which OS does this issue occur?
[OS: Windows]
What is the version of your OS?
WIN10
NuttX Version
master
Issue Architecture
[Arch: all]
Issue Area
[Area: Industry]
Verification
- I have verified before submitting the report.