7.4.6

This section presents the firmware changelog of the release v.7.4.6. For further details, please consult the Service Bulletin nº 00010.

Added

• New control states from the motor controller: Hold Zero RPM (set zero speed), Zero Current (be windmilling).
• New current limiter implemented in D-Q axis for sensored mode. Optional regenerative current limiter to prevent over-voltage. Optional output power limitation when DC voltage drops below threshold values.
• Support and calibration for Sin-Cos sensors.
• CAN-FD support
• A new High Frequency Diagnostics Data recording message enables logging of potential faults during flight.
• New FW updating feature: Serial Over CAN using CAN 2.0.
• New application alert when 90% of consumption is reached on either C1 or C2 high-priority task.
• New fault detection for low energy detection.
• STANAG support included.
• The speed controller now has tracking signal feedback scaled by a configurable gain in order to prevent wind-up and improve signal tracking. The current controller now recalculates its integral gain to compensate for motor temperature variations.

Removed

• The minimum speed and time for going to IDLE mode have been removed from the Control configuration, as it is possible to implement that externally.

Improved

• Non-latching under-voltage protection is now triggered with the correct time configuration, instead of with the latching under-voltage timing.
• Caution/Advertisement over-voltage protections are now unified into a single protection.
• Power module temperature is now filtered using a second order Butterworth filter and computed in the high-priority task.
• SW architecture updated from single-core to dual-core for faster control execution.