2021-08-20

• Support alternate CAN prefixes
• Resolve communication disruption when setting id.id to the value it already was
• Use an improved PWM mapping technique for smoother low voltage operation

2021-06-28

• Expose "voltage" mode over the diagnostic interface using d v A B C
• Improve error handling in the bootloader
• Update flashing script to optionally accept arbitrary images

2021-06-08

• Make rezeroing to non-zero values work again. This was broken since release 2021-04-20

2021-05-03

• Fix a defect in d61fd21, that limited speed to half the maximum speed for a given voltage

2021-04-26

• Support inverting the order of the phase wires in firmware
• Create "config" values to store a UUID assigned at provisioning time
• The high-rate debug port mappings have changed slightly, currents measured in amps instead of counts are now supported

2021-04-24

• Improve the robustness of servo.max_velocity: This was documented as behaving poorly if exceeded, but the prior behavior would often oscillate. Now we only limit further acceleration, and permit unlimited deceleration when exceeding the velocity.

2021-04-20

• Add filtering for the primary encoder. moteus_tool configures this automatically during calibration, the bandwidth can be overridden with --encoder-bw-hz
• Full rate debug information can now be emitted from the debug UART

2021-04-09

• An AS5048B encoder is now supported on the ABS port
  • It can be offset, scaled, and used to initialize the primary position
• Maximum velocity can be limited. devkits come with a 10 rev/s limit
• Maximum power can be limited
  • This is intended as a last resort, as it will not interact well with outer control loops
• The DQ integrator is now limited to an achievable voltage
  • If this wound up during operation at maximum speed, it could result in large delays before slowing down
• New control law for measuring motor inductance, see d ind
• Remove the current based feedforward term
  • This was unlikely to be helping any thing with the existing velocity noise profile

2021-03-05

• Support a new configurable option, servo.max_position_slip, which is effectively an anti-windup limiter for the position control loop.

2021-01-14

• Fix the sign of the velocity voltage feedforward term: Note, this will result in possibly unstable behavior with the previous default config values. Use a moteus_tool 0.3.7 or newer to automatically update the configuration
• Temperature is now filtered, which should reduce instances of spurious faults
• All diagnostic commands now prefix errors with the "ERR" string