Refloat 1.3.0-preview1

WARNING: This is an experimental version of the package. Bugs may and will be present. Use at your own risk!

This is a feature preview of the timing rework, new setpoint smoothing and a few other smaller features and improvements.

Please read the release post for more details.

Features

• Move core (PID) balancing control to the IMU callback
  This removes a source of timing inaccuracies stemming from an arbitrary delay between a new IMU sample arriving and being used.

• Introduce setpoint smoothing for all Tilts (Torque tilt, ATR, Brake Tilt, Turn Tilt and Remote)

• Add separate configurable downhill/braking tilt speeds for Torque Tilt and ATR

• New ATR Transition Boost
  The ATR Transition Boost feature didn't fit the new Setpoint Smoothing algorithm. It was reworked and the multiplier now applies to the smoothing constants as well as the angling rates.

• The ATR Response Boost config option was dropped
  It is deemed unnecessary with the new Setpoint Smoothing allowing faster speeds in general.

• Use torque instead of current in balance calculations (6.06+)
  On firmware 6.06+ calculate motor torque based on the calibrated flux linkage and configured motor poles.

  This compensates for different motors' torque constants and should make tunes behave more consistently across different motors (not taking into account saturation, that is, the maximum torque a given motor can produce, which remains a major differentiator that can't be accounted for). As a consequence, with this feature (on FW 6.06+) the tune behavior will change slightly according to the motor being used.

  Config options related to current are now internally converted to a torque equivalent of a motor Flux Linkage of 27 mWb (a middle value for the common Onewheel motors). The more your Flux Linkage value differs from this, the more will your tune be adjusted.

  The following config options are affected:

  • Angle P
  • Rate P
  • Angle I
  • I Term Limit
  • Booster (Acceleration/Braking) Current Boost
  • Torque Tilt Strength and Strength (Regen)
  • Torque Tilt Start Current Threshold
  • ATR Uphill/Downhill Strength
  • ATR Amps to Acceleration/Decceleration Ratio

  Make sure your Motor Cfg -> Additional Info -> Setup -> Motor Poles value is correct! The correct value for all Onewheel motors to date is 30.

  On firmware 6.05 and older the behavior remains the same.

• New and more consistent Reverse Stop implementation

• Add the Control Loop dt and Control Loop Frequency to realtime data
  The dt (delta time) is the time between control loop iterations. The frequency is based off that, just smoothed out. Both of these values are defined by IMU Sample Rate.

  Control Loop Frequency can be used to check the actual frequency a particular configure IMU Sample Rate has resulted in.

  Control Loop dt can be checked to see how jittery the timing is, but the Data Recording firmware is needed for that, as the dt needs to be recorded precisely (normal data logging at 10x per second can't accurately show it). Besides IMU Sample Rate, Motor ZVF has a big impact on the Control Loop jitter.

• Rename the AppUI tab title to Refloat [contactsimonwilson]

• Don't disable LEDs if both sensors are pressed at startup [Eli Parker]
  This mechanism was in place for the potential case of the LED initialization locking up the board in a way that would prevent the user from connecting to fix the problem. This has proven unneeded, so the feature is being removed.

• Add an option to swap left/right footpad ADCs

Fixes

• Make internal package calculations independent of the loop frequency
  Ensures consistent behavior regardless of what frequency the package is running at.
• Add recalculation of filter constants according to actual measured loop frequency
  Due to technical details actual frequencies at which the package is running can differ significantly from the configured ones, this ensures the filtering is consistent and accurate.
• Fix haptic strength speed scaling being applied incorrectly when riding in reverse [Dado Mista]
• Set more sensible limits of 45-90° for Pitch and Roll Axis Fault Cutoffs
• Stop the "last beep reason" text from disappearing once the beep condition stops for users running Float Accessories [Eli Parker]
• Drive beeper pin low after init to prevent unintended beep [0x41kravchenko]
• Fix a potential extra short beep on startup

Refloat 1.2.1

Refloat 1.2 reaches fully seamless upgrading experience (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting me
chanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts (Spec -> Low/High Voltage Threshold)
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option
  It only changed the visualization and was not a per-board option, which could cause confusion.
• Add hundredths precision to Brake Scaling params [Nico Aleman]
• Add Tilt Smoothing to Turn Tiltback and Brake Tiltback [Nico Aleman]
• Add support for driving LEDs via the JetFleet F6 v1 AUX pin (C9)
• Show one-time Tips & Tricks in AppUI to highlight non-obvious UI interactions
• Implement package update available check
  Refreshes the VESC Tool archive once every 24 hours and pops up a dialog if a new package version is available.
  The dialog popup can be snoozed for one month and the whole check can be disabled in AppUI Preferences.

Fixes

• Fix a failure (motor cutting and apps reporting duty cycle > 100%) if Brake Tilt Lingering is set to 0 in runtime tune (via Float Control)
• Limit Input Deadband to maximum 50%
• Fix LEDs color spectrum generation to be more uniform
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart
• Fix displaying charging current and voltage on Floatwheel
• Always finish playing the full pattern of Haptic Feedback before stopping / changing
• Fix applying a tune from the Tune Archive saying it's the same as the current tune
• Fix wording in the dialog applying a tune from the archive
• Fix inverted motor direction in darkride (board shooting off)
• Fix Torque Tilt tilt/release speed conditions: [Nico Aleman]
  • Use Release Speed when TT is targeting 0°
  • Use the faster tilt speed when crossing 0°
• Ignore push start backwards if reverse stop is enabled [Dado Mista]
• Fix the roll pictogram in AppUI doing a full turn when crossing the 180 <-> -180 threshold
• On FW 6.06+ eliminate the impact of LED control on the balancing (it was already minimal, this removes it entirely)
• TurnTilt & NoseAngling handling in Wheelslip [Nico Aleman]
  • Setpoints are now still applied during Wheelslip
  • TurnTilt is now wound down (instead of frozen) during Wheelslip
• Remove TurnTilt suppression in high torque response situations [Dado Mista]
• Fix AppUI settings dialog being too tall and getting clipped

Refloat 1.2.0-beta4

Refloat 1.2 reaches fully seamless upgrading experience (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting mechanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

1.2.0-beta4

Features

• Show one-time Tips & Tricks in AppUI to highlight non-obvious UI interactions
• Implement package update available check
  Refreshes the VESC Tool archive once every 24 hours and pops up a dialog if a new package version is available.
  The dialog popup can be snoozed for one month and the whole check can be disabled in AppUI Preferences.

Fixes

• TurnTilt & NoseAngling handling in Wheelslip [Nico Aleman]
  • Setpoints are now still applied during Wheelslip
  • TurnTilt is now wound down (instead of frozen) during Wheelslip
• Remove TurnTilt suppression in high torque response situations [Dado Mista]
• Fix AppUI settings dialog being too tall and getting clipped

1.2.0-beta3

Features

• Add hundredths precision to Brake Scaling params [Nico Aleman]
• Add Tilt Smoothing to Turn Tiltback and Brake Tiltback [Nico Aleman]
• Add support for driving LEDs via the JetFleet F6 v1 AUX pin (C9)

Fixes

• Fix inverted motor direction in darkride (board shooting off)
• Fix Torque Tilt tilt/release speed conditions: [Nico Aleman]
  • Use Release Speed when TT is targeting 0°
  • Use the faster tilt speed when crossing 0°
• Ignore push start backwards if reverse stop is enabled [Dado Mista]
• Fix the roll pictogram in AppUI doing a full turn when crossing the 180 <-> -180 threshold
• On FW 6.06+ eliminate the impact of LED control on the balancing (it was already minimal, this removes it entirely)

1.2.0-beta2

Features

• Add an option to make the fatal error not be persistent

Fixes

• Always finish playing the full pattern of Haptic Feedback before stopping / changing
• Fix applying a tune from the Tune Archive saying it's the same as the current tune
• Fix wording in the dialog applying a tune from the archive

1.2.0-beta1

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts.
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option It only changed the visualization and was not a per-board option, which could cause confusion.

Fixes

• Fix LEDs color spectrum generation to be more uniform.
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart.
• Fix displaying charging current and voltage on Floatwheel

Refloat 1.2.0-beta3

Refloat 1.2 reaches fully seamless upgrading experice (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting mechanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

1.2.0-beta3

Features

• Add hundredths precision to Brake Scaling params [Nico Aleman]
• Add Tilt Smoothing to Turn Tiltback and Brake Tiltback [Nico Aleman]
• Add support for driving LEDs via the JetFleet F6 v1 AUX pin (C9)

Fixes

• Fix inverted motor direction in darkride (board shooting off)
• Fix Torque Tilt tilt/release speed conditions: [Nico Aleman]
  • Use Release Speed when TT is targeting 0°
  • Use the faster tilt speed when crossing 0°
• Ignore push start backwards if reverse stop is enabled [Dado Mista]
• Fix the roll pictogram in AppUI doing a full turn when crossing the 180 <-> -180 threshold
• On FW 6.06+ eliminate the impact of LED control on the balancing (it was already minimal, this removes it entirely)

1.2.0-beta2

Features

• Add an option to make the fatal error not be persistent

Fixes

• Always finish playing the full pattern of Haptic Feedback before stopping / changing
• Fix applying a tune from the Tune Archive saying it's the same as the current tune
• Fix wording in the dialog applying a tune from the archive

1.2.0-beta1

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts.
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option It only changed the visualization and was not a per-board option, which could cause confusion.

Fixes

• Fix LEDs color spectrum generation to be more uniform.
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart.
• Fix displaying charging current and voltage on Floatwheel

Refloat 1.1.2

Fixes a critical bug of the board shooting off when entering Darkride.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• Fix inverted motor direction in Darkride (board shooting off)

Refloat 1.2.0-beta2

Refloat 1.2 reaches fully seamless upgrading experice (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting mechanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

1.2.0-beta2

Features

• Add an option to make the fatal error not be persistent

Fixes

• Always finish playing the full pattern of Haptic Feedback before stopping / changing
• Fix applying a tune from the Tune Archive saying it's the same as the current tune
• Fix wording in the dialog applying a tune from the archive

1.2.0-beta1

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts.
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option It only changed the visualization and was not a per-board option, which could cause confusion.

Fixes

• Fix LEDs color spectrum generation to be more uniform.
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart.
• Fix displaying charging current and voltage on Floatwheel

Refloat 1.2.0-beta1

Refloat 1.2 reaches fully seamless upgrading experice (with automatic config restore and support for automatically migrating any changes in config options) and brings major improvements in various alerting mechanisms.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Features

• Add support for BMS alerting (Pushback and Haptic) [Syler Clayton]
• Add support for speed-based alerting (Pushback and Haptic) [Henrik Buestad]
  Trigger Pushback and Haptic Feedback at a desired speed. The properties other than the Speed Threshold are shared with Duty Cycle.
• Support migrating package config from older versions to newer in the AppUI backups (doesn't work for XML and Start page backups).
• Groundworks for a new Alerting system
  Right now only providing information about firmware faults (support for other alerts will come in future versions).
• Support per-cell low and high voltage thresholds for Pushback / Haptic alerts.
  Requires firmware 6.05+. Total values are still supported (but no longer recommended). If using the package-native backup/restore mechanism, the config will be automatically adjusted to per-cell values.
• Add an option to enable/disable Quickstop.
• Add Rainbow Fade, Rainbow Cycle and Rainbow Roll LED effects. [acheronfail]
• Add an option for LEDs to not require a pullup resistor to 5V.
• Remove the conversion of old Float quicksaves into Refloat.
• Allow to configure both Internal and External LEDs at the same time.
• Remove the Swap Footpad Sensor ADCs AppUI Preferences option It only changed the visualization and was not a per-board option, which could cause confusion.

Fixes

• Fix LEDs color spectrum generation to be more uniform.
• Rotate Gyro Y to estimate the change in pitch due to rider input, without influence from turning (Credit to Michalmo for the math) [Nico Aleman]
• Fix motor config changes (current limits, temp thresholds, etc.) not being updated in the package until a restart.
• Fix displaying charging current and voltage on Floatwheel

Refloat 1.1.1

A bugfix release fixing a serious bug that would limit ERPM to 6000 if on surfdado's Pin Lock firmware and using flywheel. Also contains a fix for Remote behavior and a Reverse Stop fix.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• do not risk chance that erpm limit is reduced to 6000 after doing flywheel [Dado Mista]
• Fix remote not being reset on engage, not respecting the 30 degree threshold disabling the quickstop and pitch fault and not being properly reported to client apps.
• Don't ignore reverse-stop during error pushback situations. [Dado Mista]
• Fix Data Record buttons in the plot being displayed when they shouldn't.

Refloat 1.1.1-beta2

This second beta contains a fix for a critical bug which can reduce the ERPM limit to 6000 after doing a flywheel, if running surfdado's pinlock firmware (installed by default on all Thor400 controllers).

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• do not risk chance that erpm limit is reduced to 6000 after doing flywheel [Dado Mista]

Refloat 1.1.1-beta1

A small bugfix release, mainly fixing Remote behavior and also containing a Reverse Stop fix.

Disclaimer: Use at your own risk!!!

Read the package README for installation details.

Fixes

• Fix remote not being reset on engage, not respecting the 30 degree threshold disabling the quickstop and pitch fault and not being properly reported to client apps.
• Don't ignore reverse-stop during error pushback situations. [Dado Mista]
• Fix Data Record buttons in the plot being displayed when they shouldn't.